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Collision detection and avoidance

  • US 10,679,511 B2
  • Filed: 12/29/2016
  • Issued: 06/09/2020
  • Est. Priority Date: 09/30/2016
  • Status: Active Grant
First Claim
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1. A method for a collision avoidance system of an unmanned aerial vehicle (UAV), the method comprising:

  • determining capability parameters regarding operation of the UAV;

    receiving physical space data regarding a flight area;

    creating a virtual world model to represent the flight area by mapping the physical space data with a physics engine, wherein a virtual UAV model represents future motion of the UAV in the virtual world model;

    receiving flight data as the UAV flies along a flight path within the flight area;

    determining a current position of the virtual UAV model within the virtual world model based on a current position of the UAV within the flight area as indicated by the received flight data;

    determining a predicted trajectory of the virtual UAV model within the virtual world model based on the determined position of the virtual UAV model within the virtual world model and the flight path of the UAV as indicated by the received flight data;

    determining that the predicted trajectory will result in a collision between the virtual UAV model and the virtual world model; and

    performing evasive actions by the UAV based on the capability parameters regarding operation of the UAV in response to determining that the predicted trajectory will result in a collision, wherein performing the evasive actions includes overriding a user control.

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