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

Award Information
Agency: Department of Defense
Branch: Navy
Contract: N00014-12-M-0269
Agency Tracking Number: N121-101-0622
Amount: $79,983.00
Phase: Phase I
Program: SBIR
Awards Year: 2012
Solicitation Year: 2012
Solicitation Topic Code: N121-101
Solicitation Number: 2012.1
Small Business Information
Ten 40th Street, Pittsburgh, PA, -
DUNS: 796315492
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 David LaRose
 Director, Software Engine
 (412) 327-3970
 dlr@carnegierobotics.com
Business Contact
 Dan Beaven
Title: Controller
Phone: (412) 251-0317
Email: dkbeaven@carnegierobotics.com
Research Institution
 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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