Robotics MobileRobot Navigation

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$117,973.00
Award Year:
2013
Program:
STTR
Phase:
Phase I
Contract:
NNX13CA46P
Award Id:
n/a
Agency Tracking Number:
120256
Solicitation Year:
2012
Solicitation Topic Code:
T4.01
Solicitation Number:
n/a
Small Business Information
CA, Santa Barbara, CA, 93101-1674
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
362223463
Principal Investigator:
Brad Short
Program Manager
(805) 966-3331
bshort@asc3d.com
Business Contact:
JoAnn Stettner
Business Official
(805) 966-3331
Jstettner@asc3d.com
Research Institution:
University of Minnesota
JoAnn Stettner
210 Delaware Street Southeast
Minneapolis, MN, 55455-55455
() -
Nonprofit college or university
Abstract
Robots and rovers exploring planets need to autonomously navigate to specified locations. Advanced Scientific Concepts, Inc. (ASC) and the University of Minnesota will develop a navigational system that employs an IMU and a 3D FLASH Lidar camera manufactured at ASC. The system will furnish both the position of the rover and an elevation map of the terrain. The map will be useful in detecting hazards to navigation both by rovers and during entry, descent and landing (EDL). The algorithm is designed to function in real-time with the comparatively slow speed computers available in space by employing an advanced algorithm that makes efficient use of Lidar determined landmarks. Those landmarks that only appear in a few images are not retained in the state vector, but nevertheless furnish constraints on the rover's pose for improving its state estimates. Those landmarks that persist in many images are used for improving the accuracy of both the rover's state and the map at complexity only linear in the number of landmarks. Significant components of this approach have enjoyed success in NASA tests in the Mohave Desert for EDL and have been assessed at level TRL 4.

* information listed above is at the time of submission.

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