Sensor-centric path planning and control for robotic vehicles

• US 10,386,857 B2
• Filed: 07/05/2017
• Issued: 08/20/2019
• Est. Priority Date: 07/05/2017
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: McGrath, Gary
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US15/641,735
• Publication Number:
  US 20190011932A1
• Time in Patent Office: 776 Days
• Field of Search: None
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64G 1/244 Spacecraft control systems
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0808 specially adapted for aircraft
• CPC Class Codes: G05D 1/0875 specially adapted to water vehicles
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles

Abstract

Various embodiments involve controlling rotational maneuvers of a robotic vehicle (e.g., an unmanned aerial vehicle or UAV) so that commanded changes in vehicle attitude (e.g., pitch, roll, and/or yaw) may be performed as rotations about a center of sensing of a sensor instead of the vehicle'"'"'s center of gravity. Maneuvers performed according to various embodiments may reduce or eliminate translational movements in the sensor output that occur when the robotic vehicle rotates about the center of gravity and the sensor is mounted some distance from the center of gravity.

Claims

1. A method of controlling rotational maneuvers of a robotic vehicle, comprising:

determining, by a processor of the robotic vehicle, a rotational maneuver to perform about an axis at a center of gravity of the robotic vehicle;

determining, by the processor, an anticipated translational movement of a center of sensing of a sensor positioned away from the center of gravity of the robotic vehicle based on the rotational maneuver and a distance between the center of gravity of the robotic vehicle and the center of sensing; and

controlling, by the processor, the robotic vehicle to perform a rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets for the movement of the center of sensing of the sensor.

2. The method of claim 1, wherein determining the anticipated translational movement of the center of sensing of the sensor comprises:

determining, by the processor, one or more of an anticipated vertical movement and an anticipated horizontal movement of the center of sensing based on the rotational maneuver and the distance between the center of gravity of the robotic vehicle and the center of sensing.

3. The method of claim 2, wherein controlling the robotic vehicle to perform the rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets for the movement of the center of sensing of the sensor comprises:

controlling, by the processor, the robotic vehicle to perform the rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets one or more of the anticipated vertical movement and the anticipated horizontal movement of the center of sensing.

4. The method of claim 1, wherein controlling the robotic vehicle to perform a rotational maneuver such that the robotic vehicle rotates about the center of sensing of the sensor comprises controlling, by the processor, a plurality of rotors to cause the robotic vehicle to perform the rotational maneuver about the axis at the center of sensing.

5. The method of claim 1, wherein the center of sensing comprises one or more of a location of the sensor, a sensing plane of the sensor, an image plane of a camera, and a focal plane of a camera.

6. The method of claim 1, wherein the rotational maneuver is one or more of a pitch, roll, or yaw.

7. The method of claim 1, wherein the robotic vehicle is one of an aerial vehicle, a terrestrial vehicle, a space-based vehicle, or an aquatic vehicle.

8. The method of claim 1, wherein determining the rotational maneuver to perform about the axis at the center of gravity of the robotic vehicle comprises:

obtaining, by the processor, data defining a navigation path for the robotic vehicle; and

determining, by the processor, the rotational maneuver to perform about the axis at the center of gravity of the robotic vehicle based on data defining the navigation path.

9. A computing device for a robotic vehicle, comprising:

a processor configured with processor-executable instructions to;

determine a rotational maneuver to perform about an axis at a center of gravity of the robotic vehicle;

determine an anticipated translational movement of a center of sensing of a sensor positioned away from the center of gravity of the robotic vehicle based on the rotational maneuver and a distance between the center of gravity of the robotic vehicle and the center of sensing; and

control the robotic vehicle to perform a rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets for the movement of the center of sensing of the sensor.

10. The computing device of claim 9, wherein the processor is further configured with processor-executable instructions to determine the anticipated translational movement of the center of sensing of the sensor by:

determining one or more of an anticipated vertical movement and an anticipated horizontal movement of the center of sensing based on the rotational maneuver and the distance between the center of gravity of the robotic vehicle and the center of sensing.

11. The computing device of claim 10, wherein the processor is further configured with processor-executable instructions to control the robotic vehicle to perform the rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets for the movement of the center of sensing of the sensor by:

controlling the robotic vehicle to perform the rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets one or more of the anticipated vertical movement and the anticipated horizontal movement of the center of sensing.

12. The computing device of claim 9, wherein the processor is further configured with processor-executable instructions to control the robotic vehicle to perform the rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets for the movement of the center of sensing of the sensor:

controlling a plurality of rotors to cause the robotic vehicle to perform the rotational maneuver about the axis at the center of sensing.

13. The computing device of claim 9, wherein the center of sensing comprises one or more of a location of the sensor, a sensing plane of the sensor, an image plane of a camera, and a focal plane of a camera.

14. The computing device of claim 9, wherein the rotational maneuver is one or more of a pitch, roll, or yaw.

15. The computing device of claim 9, wherein the robotic vehicle is one of an aerial vehicle, a terrestrial vehicle, a space-based vehicle, or an aquatic vehicle.

16. The computing device of claim 9, wherein the processor is further configured with processor-executable instructions to determine the rotational maneuver to perform about the axis at the center of gravity of the robotic vehicle by:

obtaining data defining a navigation path for the robotic vehicle; and

determining the rotational maneuver to perform about the axis at the center of gravity of the robotic vehicle based on data defining the navigation path.

17. A processing device comprising:

a processor configured with processor-executable instructions to;

determine a rotational maneuver to perform about an axis at a center of gravity of a robotic vehicle;

determine an anticipated translational movement of a center of sensing of a sensor positioned away from the center of gravity of the robotic vehicle based on the rotational maneuver and a distance between the center of gravity of the robotic vehicle and the center of sensing; and

control the robotic vehicle to perform a rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets for the movement of the center of sensing of the sensor.

18. The processing device of claim 17, wherein the stored processor-executable instructions are configured to cause the processor to determine the anticipated translational movement of the center of sensing of the sensor by:

determining one or more of an anticipated vertical movement and an anticipated horizontal movement of the center of sensing based on the rotational maneuver and the distance between the center of gravity of the robotic vehicle and the center of sensing.

19. The processing device of claim 18, wherein the stored processor-executable instructions are configured to cause the processor to control the robotic vehicle to perform the rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets for the movement of the center of sensing of the sensor by:

controlling the robotic vehicle to perform the rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets one or more of the anticipated vertical movement and the anticipated horizontal movement of the center of sensing.

20. The processing device of claim 17, wherein the stored processor-executable instructions are configured to cause the processor to control the robotic vehicle to perform a rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets for the movement of the center of sensing of the sensor by controlling a plurality of rotors to cause the robotic vehicle to perform the rotational maneuver about the axis at the center of sensing.

21. The processing device of claim 17, wherein the center of sensing comprises one or more of a location of the sensor, a sensing plane of the sensor, an image plane of a camera, and a focal plane of a camera.

22. The processing device of claim 17, wherein the rotational maneuver is one or more of a pitch, roll, or yaw.

23. The processing device of claim 17, wherein the robotic vehicle is one of an aerial vehicle, a terrestrial vehicle, a space-based vehicle, or an aquatic vehicle.

24. The processing device of claim 17, wherein the stored processor-executable instructions are configured to cause the processor to determine the rotational maneuver to perform about the axis at the center of gravity of the robotic vehicle by:

obtaining data defining a navigation path for the robotic vehicle; and

determining the rotational maneuver to perform about the axis at the center of gravity of the robotic vehicle based on data defining the navigation path.

25. A computing device for a robotic vehicle, comprising:

means for determining a rotational maneuver to perform about an axis at a center of gravity of the robotic vehicle;

means for determining an anticipated translational movement of a center of sensing of a sensor positioned away from the center of gravity of the robotic vehicle based on the rotational maneuver and a distance between the center of gravity of the robotic vehicle and the center of sensing; and

means for controlling the robotic vehicle to perform a rotational maneuver such that the center of gravity of the robotic vehicle traverses a path that offsets for the movement of the center of sensing of the sensor.