PREdicting MObility using STATistics (PreMoStat)

Award Information
Agency: Department of Defense
Branch: Army
Contract: W912HZ-07-P-0294
Agency Tracking Number: A074-026-0231
Amount: $99,997.00
Phase: Phase I
Program: STTR
Awards Year: 2007
Solicitation Year: 2007
Solicitation Topic Code: A07-T026
Solicitation Number: N/A
Small Business Information
PO Box 276, Wynnewood, PA, 19096
DUNS: 073688926
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Eric Krotkov
 President, Griffin Technologies
 (610) 649-9507
Business Contact
 Eric Krotkov
Title: President, Griffin Technologies
Phone: (610) 649-9507
Research Institution
 Raul Longoria
 Office of Sponsored Projects
PO Box 7726
Austin, TX, 78713-7726
 (512) 471-0530
 Nonprofit college or university
The proposed work addresses the problem of determining whether a given small unmanned ground vehicle (SUGV) can traverse a given terrain, when the state of both the SUGV and the terrain are not known exactly. In our previous work, we developed computational models of an Army-relevant tracked SUGV-the PackBot-traversing terrain. Using SolidWorks, we built three-dimensional solid models of the vehicle and terrain features. Using ADAMS, we simulated the PackBot negotiating the terrain. The results of the simulations agreed well with real-world experiments. Phase I of PreMoStat builds directly on the previous and will develop a Monte Carlo method for predicting off-road mobility, and compare the predicted and actual mobility on step, ditch, and slope obstacles. Task 1, Mobility Prediction, structures our existing software for mobility prediction, and adds tools for visualization and measuring computational resource usage. Task 2, Statistical Mobility Prediction, applies Monte Carlo analysis, and explores of higher-risk statistical approaches. Task 3, Comparison of Predicted and Actual Mobility, runs a real robot on real terrain. Task 4, Project Management, includes all of the non-technical efforts needed to complete Phase I and prepare for Phase II.

* Information listed above is at the time of submission. *

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