Flexible and Robust Miniature Guidance & Navigation System

The Flexible and Robust Guidance and Navigation in this proposal uses vision-based sensors and an innovative adaptive nonlinear optimization-based sensor fusion method. Phase II will test navigation performance by collecting data sets in various visual environments and evaluating them using standardized benchmarks. Results will also be compared to standardized datasets. An innovative hybrid dense/topological map is created to generate obstacle avoidance trajectories. A vision-based reactive collision avoidance algorithm is also included. Finally, a planning algorithm is used to construct sequences of maneuvers needed to navigate a large environment for a single UAV and then expanded to include complex coordinated missions between multiple UAVs. The decoupling of sensors and fusion allows new sensors to be incorporated easily using plug-and-perceive approach. An optional LIDAR is used to provide 3D point cloud data. Multiple flight tests are planned during the program to demonstrate the systematic maturation of the systems technology readiness level.