ENHANCEMENT

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$49,943.00
Award Year:
1986
Program:
SBIR
Phase:
Phase I
Contract:
n/a
Award Id:
4470
Agency Tracking Number:
4470
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
485 Alberto Wy - Bldg D, Los Gatos, CA, 95030
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
G JEFFREY GEIER
(408) 395-9191
Business Contact:
() -
Research Institute:
n/a
Abstract
THIS PROPOSAL IS FOR THE DESIGN OF AN INTEGRATED NAVIGATION SYSTEM FOR A ROBOTIC VEHICLE. INCLUDED IN THE PROPOSED EFFORT IS THE FORMULATION OF CANDIDATE NAVIGATION SYSTEMS INCORPORATING ANY ONE OF SEVERAL "DEAD RECKONING" SYSTEMS (ODOMETER OR INERTIAL INSTRUMENTBASED) AND POSITION FIXES DERIVED FROM GPS AND LANDMARK RECOGNITION USING STEREOSCOPIC VISION. A KALMAN FILTER SHALL BE DESIGNED TO OPTIMALLY BLEND THE NAVIGATION SENSOR DATA. THE PERFORMANCE OF THE CANDIDATE NAVIGATION SYSTEMS SHALL BE EXAMINED USING A TAU SIMULATION FACILITY UPGRADED TO INCLUDE ROBOTIC VEHICLE TYPE TRAJECTORY GENERATION AND MODELS FOR THE ROBOTIC VEHICLE-UNIQUE NAVIGATION SENSORS. THIS UPGRADED SIMULATION SHALL BE DELIVERED TO THE U.S. ARMY TANKAUTOMOTIVE COMMAND TO FACILITATE UNDERSTANDING OF THE TECHNICAL ISSUES AND TO ENABLE INDEPENDENT EXAMINATION OF CANDIDATE NAVIGATION SYSTEM PERFORMANCE. BASED ON THE SIMULATED PERFORMANCE OF THE CANDIDATE SYSTEMS AND THEIR EXPECTED COST AND COMPLEXITY, AN INTEGRATED SYSTEM SHALL BE RECOMMENDED AND DESCRIBED IN DETAIL IN THE FINAL TECHNICAL REPORT. A PRELIMINARY DESIGN FOR THE NAVIGATION SOFTWARE SHALL ALSO BE PROVIDED, INCLUDING EQUATION-LEVEL ALGORITHM DOCUMENTATION, A RECOMMENDED PROCESSOR ARCHITECTURE, EXPECTED PROCESSING RATES, AND HARDWARE INTERFACE DESCRIPTIONS.

* information listed above is at the time of submission.

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