Automated Path and Mission Planning for Aerial Platforms under Dynamic Conditions and Constraints

Award Information
Agency:
Department of Defense
Branch
Navy
Amount:
$69,974.00
Award Year:
2004
Program:
STTR
Phase:
Phase I
Contract:
N00014-04-M-0321
Award Id:
70394
Agency Tracking Number:
N045-003-0401
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
13766 S. Hawthorne Blvd., Hawthorne, CA, 90250
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
028281020
Principal Investigator:
EdBachelder
Principal Investigator
(310) 679-2281
edbach@systemstech.com
Business Contact:
ThomasMyers
Vice President
(310) 679-2281
tmyers@systemstech.com
Research Institute:
M.I.T.
Eric Feron
77 Massachusetts Avenue, Building E19-750
Cambridge, MA, 02139
(617) 253-1991
Nonprofit college or university
Abstract
The proposal herein merges two novel and different algorithms for unmanned platform dynamic path-planning in obstacle fields. The first employs a recently published technique, Focused Dynamic Programming [1], which offers the benefits of both the LAO* algorithm [2] (LAO* subsumes Dijkstra's algorithm) and the Prioritized Sweeping algorithm [3]. Focused Dynamic Programming uses heuristics to limit the number of states examined during the value iteration so that the value updates are used most effectively. The second algorithm formulates the path optimization as a Mixed Integer Linear Programming problem. This approach is particularly convenient because (i) it allows a wide range of operationally relevant elements to be accounted for in the optimization and (ii) the formulated problem can be immediately solved by existing commercial or non-commercial optimization software. Both of the proposed algorithms appear well-suited to account for multi-objective cost functions and incorporate constraints driven by platform dynamics and rules of engagement. Additionally, the algorithms have been selected because of their potential to produce solutions for rapidly changing battlespace conditions. MIT has already applied Mixed Integer Linear Programming to solve the path planning problem for a highly maneuverable UAV helicopter.

* information listed above is at the time of submission.

Agency Micro-sites


SBA logo

Department of Agriculture logo

Department of Commerce logo

Department of Defense logo

Department of Education logo

Department of Energy logo

Department of Health and Human Services logo

Department of Homeland Security logo

Department of Transportation logo

Enviromental Protection Agency logo

National Aeronautics and Space Administration logo

National Science Foundation logo
US Flag An Official Website of the United States Government