Micro Air Vehicle (MAV) Guidance and Navigation

Award Information
Agency:
Department of Defense
Branch
Defense Advanced Research Projects Agency
Amount:
$99,776.00
Award Year:
1998
Program:
STTR
Phase:
Phase I
Contract:
n/a
Award Id:
40207
Agency Tracking Number:
40207
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
9950 Wakeman Drive,, Manassas, VA, 20110
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
Ben Motazed
() -
Business Contact:
Ben Motazed
() -
Research Institution:
Carnegie Mellon University
Susan Burkett
5000 Forbes Ave.,
Pittsburgh, PA, 15213

Nonprofit college or university
Abstract
Aurora Flight Sciences and Carnegie Mellon University Robotics Institute propose a joint program to develop a generalized MAV navigation and guidance framework applicable to both hovering and fixed wing configurations. The proposed cooperative program seeks to apply image processing methods and devices developed at CMU for a wide range of MAV navigation with special emphasis to the indoor and urban canyon like environments. We will investigate the use of panospheric imaging and novel methods of ranging. Panospheric imaging is the projection of a very wide field of view (360 degs in azimuth and up to 120 degs in elevation) onto a single camera via a curved mirror. Such imaging allows tele-operated navigation without the requirement for any moving parts to view different parts of the surrounding environment. In addition to telepresence, this mode will also provide the ability to track moving objects, guide the MAV toward a target, and attitude control through optical flow processing. Complementary to the panospheric imaging, we also propose to investigate a novel laser ranging device based on Self-Mixing Laser Interferometry (SMiLI) that can be used for odometry, attitude control, obstacle detection and mapping. Apart from fulfilling several needs, both technologies are amenable to the miniaturization required for MAVs.

* information listed above is at the time of submission.

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