Methods and apparatus to autonomously navigate a vehicle by selecting sensors from which to obtain measurements for navigation
First Claim
1. A method to navigate a vehicle, comprising:
- determining environmental data associated with an area in which the vehicle is to navigate;
based on the environmental data, automatically ranking a plurality of sensors that are available to the vehicle by respective costs of using the sensors to generate a navigation solution;
automatically determining a subset of the sensors from which to obtain measurements based on the ranking and based on comparisons of a) first importance values of the sensors for navigating the vehicle with b) second importance values of the sensors for performing a non-navigation task;
obtaining measurements from the subset of the sensors;
calculating a navigation command to navigate the vehicle; and
executing a first navigation action to implement the navigation command.
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Abstract
Methods and apparatus to autonomously navigate a vehicle by selecting sensors from which to obtain measurements for navigation are disclosed. An example method to navigate a vehicle includes determining environmental data associated with an area in which the vehicle is to navigate; based on the environmental data, automatically ranking a plurality of sensors that are available to the vehicle by respective costs of using the sensors to generate a navigation solution; automatically determining a subset of the sensors from which to obtain measurements based on the ranking and based on comparisons of a) first importance values of the sensors for navigating the vehicle with b) second importance values of the sensors for performing a non-navigation task; obtaining measurements from the subset of the sensors; calculating a navigation command to navigate the vehicle; and executing a first navigation action to implement the navigation command.
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Citations
23 Claims
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1. A method to navigate a vehicle, comprising:
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determining environmental data associated with an area in which the vehicle is to navigate; based on the environmental data, automatically ranking a plurality of sensors that are available to the vehicle by respective costs of using the sensors to generate a navigation solution; automatically determining a subset of the sensors from which to obtain measurements based on the ranking and based on comparisons of a) first importance values of the sensors for navigating the vehicle with b) second importance values of the sensors for performing a non-navigation task; obtaining measurements from the subset of the sensors; calculating a navigation command to navigate the vehicle; and executing a first navigation action to implement the navigation command. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vehicle, comprising:
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a propulsion system to provide thrust to the vehicle; a control system to provide directional control to the vehicle; a plurality of sensors to collect data; a sensor ranker to; receive environmental data associated with an area in which the vehicle is to navigate; based on the environmental data, automatically rank the sensors by respective costs of using the sensors to generate a navigation solution; a sensor negotiator to automatically determine a subset of the sensors from which to obtain measurements based on the ranking and based on comparisons of a) first importance values of the sensors for navigating the vehicle with b) second importance values of the sensors for performing a non-navigation task; and a navigation filter to; obtain measurements from the subset of the sensors; calculate a navigation command to navigate the vehicle; and execute a first navigation action to implement the navigation command. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A tangible machine readable storage medium comprising machine executable instructions which, when executed, cause a processing circuit of a vehicle to at least:
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determine environmental data associated with an area in which the vehicle is to navigate; based on the environmental data, automatically rank a plurality of sensors that are available to the vehicle by respective costs of using the sensors to generate a navigation solution; automatically determine a subset of the sensors from which to obtain measurements based on the ranking and based on comparisons of a) first importance values of the sensors for navigating the vehicle with b) second importance values of the sensors for performing a non-navigation task; access measurements from the subset of the sensors; calculate a navigation command to navigate the vehicle; and execute a first navigation action to implement the navigation command. - View Dependent Claims (19, 20, 21, 22, 23)
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Specification