Polar T.R.A.C.E.R. (Traversing Robotics for Autonomous Collaborative and Efficient Reconnaissance) - Phase 1
Abstract
The aim is setting a new milestone in polar logistics and safety. To do so, an innovative approach is considered based on existing research in polar robotics to advance towards a comprehensive data recollection and processing system to provide terrain awareness. This will start with the designing of new rovers capable of sensing and modeling terrain conditions through proprioception, taking into account vibrations, wheel sinkage and slip, structural deformation, tilt, applied torque among other captured information. Exteroceptive sensors will also be considered for medium range look-ahead and obstacle avoidance. Collaborative heterogenous units (such as UAVs) will further increase look-ahead capabilities to assist on navigation tasks. Collected information will primarily be used for quick assessments on immobilization or traversability threats and tactical planning of alternative routes to extend to crevasse detection and logistics. In order to create a scalable system, an information exchange method for heterogenous polar units and sensors will be developed by creating a hardware abstraction layer through ROS (Robot Operating System) and common messaging protocols. An initial proof of concept will consist of specifically designed rovers for polar environment scaling up to a more broad variety of autonomous systems, such a long range look-ahead UAVs. A comprehensive situational awareness for terrain and environmental conditions would be obtain by the use of Multi-Agent System (MAS) methodologies to share the collected information providing each unit with global terrain and situational awareness. This will allow efficient reconnaissance and routing through terrain collaboratively sensed by all units.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Dec 04, 2019
- Source ID
- W911NF1510309
Entities
People
- Ian Hughes
Organizations
- Army Contracting Command
- United States Army