Intelligent Cargo Handling Systems Using MEMS IMU/GPS and EO Sensor

"This project is aimed at developing a novel motion planning and control system to increase the autonomy and dexterity of cargo handling systems. In Phase I, system architecture, processing/control methodology, component specifications, and performanceanalysis will be carried out. AGNC's miniaturized MEMS IMU/GPS navigation and a selected EO sensor will be employed to accurately provide both inertial and target-relative guidance signals needed to perform automated tele-operation maneuvers such as thecargo handling system's real-time motion planning/control with collision avoidance. A fuzzy logic approach will be explored and incorporated into the guidance algorithm and controller design of the cargo handling system to accommodate parameter and payloaduncertainties. In addition, development of integrated software environment design and simulation package is planned, which provides user-friendly evaluation and demonstration tools for the proposed design approach. The deliverable product is a final reportdocumenting design approaches, requirements, and modeling/simulation results. This project will lead to a generic guidance/navigation/control system with great commercial potential. Possible applications include automobiles, spacecraft, aircraft, andautonomous vehicles."