Path Planner for Dynamic Environments

Award Information
Agency:
Department of Defense
Branch
Defense Advanced Research Projects Agency
Amount:
$739,386.00
Award Year:
2010
Program:
SBIR
Phase:
Phase II
Contract:
W31P4Q-10-C-0202
Award Id:
86351
Agency Tracking Number:
08SB2-0572
Solicitation Year:
n/a
Solicitation Topic Code:
DARPA 08-030
Solicitation Number:
n/a
Small Business Information
PO Box 202, West End of Second Street, Essington, PA, 19029
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
793042243
Principal Investigator:
Jim Hacunda
Director of Systems Engin
(610) 521-6115
JimHacunda@DragonflyPictures.com
Business Contact:
Gregory Piasecki
Director of Commercializa
(610) 521-6115
GregoryPiasecki@DragonflyPictures.com
Research Institution:
n/a
Abstract
Despite excellent recent progress in path planning, current state-of-the-art planners are still incapable of operating robustly in environments that are both cluttered and highly dynamic. The challenge is two-fold. First, predicting the trajectories of dynamic obstacles (i.e., cars, humans, aircraft) is very noisy. As a result, to achieve robust execution, perception modules need to provide a richer representation of predictions while planning modules need to account for the uncertainty in the predictions. Second, planning with dynamic obstacles is computationally complex because it requires adding time as an additional dimension while paths in dynamic environments need to be constantly re-computed. In Phase I, we have developed a novel path planner that addresses these challenges. It includes a novel representation of dynamic obstacles that can be used to generate safe paths efficiently and is general enough for use with different sensor suites. The planner also uses a novel data structure - time-bounded lattice. The lattice can be used efficiently with our previously developed re-planning algorithms suitable for constant re-planning. In Phase II, we propose to extend the planner to support planning for UAVs, transition it into the DPI real-time control software and demonstrate its performance on real test flights of DPI helicopters.

* information listed above is at the time of submission.

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