Absolute Localization in GPS-denied Environment for Autonomous Unmanned Ground and Micro-air Vehicle Systems

Award Information
Agency:
Department of Defense
Branch
n/a
Amount:
$79,983.00
Award Year:
2012
Program:
SBIR
Phase:
Phase I
Contract:
N00014-12-M-0269
Award Id:
n/a
Agency Tracking Number:
N121-101-0622
Solicitation Year:
2012
Solicitation Topic Code:
N121-101
Solicitation Number:
2012.1
Small Business Information
Ten 40th Street, Pittsburgh, PA, -
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
796315492
Principal Investigator:
David LaRose
Director, Software Engine
(412) 327-3970
dlr@carnegierobotics.com
Business Contact:
Dan Beaven
Controller
(412) 251-0317
dkbeaven@carnegierobotics.com
Research Institute:
Stub




Abstract
Although global pose is essential for success in certain vehicle missions and tasks, when GPS is denied there is no single technology (source) that can robustly estimate global pose without suffering from one or more failure modes. We propose to design an architecture that provides robustness by integrating automated celestial navigation, registering on-board sensor data to a map (map registration) or to sensor data from a previous traverse (route registration or place recognition), wheel odometry, measuring vehicle motion from camera data (visual odometry) or range data (range odometry), and inertial measurements of acceleration and angular rates (IMU) to compensate for all possible failure modes. The architecture will provide a direct alternative to GPS over the widest range of conditions possible. The architecture will be built around Carnegie Robotics LLC"s (CRL"s) SmoothPose product. The proposed system supports autonomous on- and off-road driving, under tree canopy, amongst tall buildings, in deep ravines, on slippery surfaces, in cluttered and open terrainall with GPS signals denied.

* information listed above is at the time of submission.

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