Robust Terrain-Adaptive Vehicle Planning and Control
Award last edited on: 1/9/2015

Sponsored Program
Awarding Agency
DOD : Army
Total Award Amount
Award Phase
Solicitation Topic Code
Principal Investigator
Mitchell M Rohde

Company Information

Quantum Signal LLC (AKA: Reactor Zero~QS)

200 North Ann Arbor Street
Saline, MI 48176
   (734) 429-9100

Research Institution


Phase I

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Autonomous or teleoperated navigation of unmanned ground vehicles (UGVs) is difficult even in benign environments due to challenges associated with perception, decision making, and human-machine interaction, among others. In environments with rough, sloped, slippery, and/or deformable terrain, the difficulty of the navigation problem increases dramatically. In this effort, Quantum Signal, LLC, University of Michigan, and Massachusetts Institute of Technology propose to collaboratively research methods for robust terrain-adaptive planning and control to enable a future generation of UGVs with assured mobility in highly challenging terrain. The approach will exploit physics-based terrain modeling with data-driven variance estimation, stochastic vehicle motion planning through feasible corridor, and terrain-adaptive predictive vehicle control integrated into a threat-based control arbitration architecture. This architecture will enable operation at (and seamless transition between) any point on the autonomy spectrum, ranging from manual teleoperation to full autonomy. In Phase 1 the team will develop, test, and characterize algorithm performance with Quantum Signal?s high fidelity ANVEL robotic vehicle simulator and determine feasibility. Should the methods prove feasible, Phase 2 will involve the further development, integration, and testing of the methodology on experimental vehicle hardware.

Stability, Ground Vehicle, Terrain, Adaptive, Sensing, Planning, Control, Robotics

Phase II

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