VAMAV: Visual Collision Detection and Avoidance for a Micro Air Vehicle

Award Information
Agency:
Department of Defense
Branch:
Air Force
Amount:
$3,599,900.00
Award Year:
2007
Program:
SBIR
Phase:
Phase II
Contract:
FA8651-07-C-0094
Agency Tracking Number:
F061-149-1419
Solicitation Year:
2006
Solicitation Topic Code:
AF06-149
Solicitation Number:
2006.1
Small Business Information
SCIENTIFIC SYSTEMS CO., INC.
500 West Cummings Park - Ste 3000, Woburn, MA, 01801
Hubzone Owned:
N
Socially and Economically Disadvantaged:
Y
Woman Owned:
N
Duns:
859244204
Principal Investigator
 Jeffrey Byrne
 Senior Research Engineer
 (781) 933-5355
 jbyrne@ssci.com
Business Contact
 Jay Miselis
Title: Corporate Controller
Phone: (781) 933-5355
Email: jmiselis@ssci.com
Research Institution
N/A
Abstract
This proposal presents the VAMAV system (Visual Awareness/Avoidance for a Micro Air Vehicle) for monocular visual collision detection and avoidance. Real time collision detection will be implemented using a time-to-collision approach based on area moment estimates of expansion from globally optimal image segmentation. This approach does not require explicit optical flow computations, and avoids noisy flow correspondence and differentiation. Real time collision avoidance will be implemented using rapidly exploring random trees (RRTs), which generate feasible trajectories given known obstacles and popup threats, while taking into account differential constraints arising from vehicle dynamics. The objectives of the phase II investigation are to (i) demonstrate open loop system performance on flight video, (ii) characterize operational envelope in simulation, (iii) demonstrate simulated closed loop system performance, (iv) demonstrate closed loop system performance on the ground station in an urban flight experiment, (v) predict the achievable framerate and power consumption for an ASIC hardware implementation. Scientific Systems Company Inc. (SSCI) is joined in this investigation by team members Sarnoff Corporation and Brigham Young University.

* information listed above is at the time of submission.

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