OAS Development and Flight Demonstration for A Miniature Rotary Wing UAV

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$729,985.00
Award Year:
2003
Program:
SBIR
Phase:
Phase II
Contract:
W911NF-04-C-0002
Award Id:
52979
Agency Tracking Number:
A012-2192
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
2009 Huntcliff Drive, Gambrills, MD, 02154
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
125532908
Principal Investigator:
StephenFujikawa
President
(410) 721-1027
sfujikawa@ase.w1.com
Business Contact:
WalterGrossman
Vice President
(703) 969-7473
wgrossman@ase.w1.com
Research Institute:
n/a
Abstract
Development of an Obstacle Avoidance System (OAS) and its flight demonstration for miniature rotary wing UAVs navigating unknown urban environments are proposed. The OAS utilizes the Game-theoretic Optimal Deformable Zone including Inertia with LocalApproach (GODZILA) algorithms for autonomous path planning which were developed and validated by simulation during Phase I. Accomplishment of this work exceeded the original Phase I proposed effort and encouraged the proposal of a flight test in Phase II.GODZILA requires no prior knowledge of the geography of the environment, and the algorithm is attractive because it computes a heading command based only on a matrix of scalar sensor measurements. It is not necessary to accurately reconstruct the size andshape of obstacles in order to avoid them, thus greatly reducing the computational and sensor requirements. Realization of the flight test system is fa-cilitated by use of inexpensive Commercial-Off-The-Shelf components including the aircraft it-self,avionics, sensors and ground station, which are simply plugged together, mitigating sched-ule and technical risk. A comprehensive integration and test plan is presented which culminates in the UAV negotiating an urban canyon at low altitude whiletransmitting back live video intel-ligence data as a validation of the practicality of the system.GODZILA has wide-ranging applications to the military and private sectors including manned aircraft obstacle avoidance, Spacecraft and UAV collisionavoidance, Underwater Vehicle obstacle avoidance, pipeline and powerline right of way surveillance, Search and Rescue, and agricultural and livestock monitoring.

* information listed above is at the time of submission.

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