System and method for behavior based control of an autonomous vehicle

• US 20060089765A1
• Filed: 10/22/2004
• Published: 04/27/2006
• Est. Priority Date: 10/22/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Allard, James, Svendsen, Selma, Filippov, Misha, Barrett, David S., Pack, Robert Todd
• Granted Patent: US 8,078,338 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.

Claims

1. A method for behavior based control of an autonomous vehicle, the method comprising the steps of:

identifying at least one input device in the autonomous vehicle;

providing at least one actuator associated with the at least one input device;

providing at least one arbiter associated with the at least one actuator;

defining a plurality of behaviors associated with the at least one actuator,

defining at least one action set, each action set characterized at least in part by a priority and comprising a plurality of alternative actions ranked according to a corresponding plurality of preferences;

selecting, by the at least one arbiter, the action set having the highest corresponding priority;

selecting, by the at least one arbiter, from the selected action set, of the alternative action having the highest corresponding preference; and

operating the at least one input device in accordance with the selected alternative action;

wherein each of the behaviors implements at least one of (i) a providing the at least one action set, and (ii) a modifying at least a portion of the selected action set.

2. The method of claim 1 wherein the input device comprises an operator input device.

3. The method of claim 1 wherein the plurality of behaviors comprises manned operation, remote unmanned tele-operation, assisted remote tele-operation, and autonomous unmanned operation.

4. The method of claim 1 wherein the plurality of alternative actions comprises at least one trajectory set.

5. The method of claim 1 wherein the step of modifying at least a portion of the selected action set is in response to at least one restriction set.

6. The method of claim 1 wherein the step of modifying at least a portion of the selected action set further comprises the steps of:

receiving at least one data type representing a constraint on action; and

implementing the constraint on at least a portion of the selected action set by the application of at least one restriction set.

7. The method of claim 1 wherein the step of modifying at least a portion of the selected action set is based at least in part on data received from at least one of a localization sensor, a perception sensor, and a terrain map.

8. The method of claim 1 wherein the step of modifying at least a portion of the selected action set comprises adjusting at least one of a translational velocity of the autonomous vehicle and a rotational velocity of the autonomous vehicle.

9. A system for behavior based control of an autonomous vehicle, the system comprising:

at least one input device in the autonomous vehicle;

at least one actuator associated with the at least one input device;

a plurality of behaviors associated with the at least one actuator;

at least one action set, each action set characterized at least in part by a priority and comprising a plurality of alternative actions ranked according to a corresponding plurality of preferences;

at least one arbiter associated with the at least one actuator for selecting at least one of (i) the action set having the highest corresponding priority, and (ii) the alternative action from the selected action set, the alternative action having the highest corresponding preference; and

a controller in communication with the input device and arbiter for operating the at least one input device in accordance with the selected alternative action;

wherein each of the behaviors comprises at least one of (i) the at least one action set, and (ii) a modification to at least a portion of the selected action set.

10. The system of claim 9 wherein the input device comprises an operator input device.

11. The system of claim 9 wherein the plurality of behaviors comprises manned operation, remote unmanned tele-operation, assisted remote tele-operation, and autonomous unmanned operation.

12. The system of claim 9 wherein the plurality of alternative actions comprises at least one trajectory set.

13. The system of claim 9 further comprising at least one restriction set for modifying at least a portion of the selected action set.

14. The system of claim 9 further comprising:

at least one data type representing a constraint on action; and

at least one restriction set for implementing the constraint on at least a portion of the selected action set.

15. The system of claim 9 further comprising at least one of a localization sensor in communication with the controller, a perception sensor in communication with the controller, and a terrain map in communication with the controller.

16. The system of claim 9 further comprising at least one adjuster in communication with the controller for adjusting at least one of a translational velocity of the autonomous vehicle and a rotational velocity of the autonomous vehicle.

17. A system for behavior based control of an autonomous vehicle, the system comprising:

means for controlling the autonomous vehicle;

means for actuating the autonomous vehicle control means;

means for defining a plurality of behaviors associated with the actuating means, each behavior including at least one action set characterized at least in part by a priority, each action set including a plurality of alternative actions ranked according to a corresponding plurality of preferences;

means for selecting the action set having the highest corresponding priority;

means for selecting the alternative action having the highest preference;

means for implementing at least one of (i) a providing the at least one action set, and (ii) a modifying at least a portion of the selected action set; and

means for operating the autonomous vehicle control means in accordance with the selected alternative action.

18. The system of claim 17 wherein the means for controlling the autonomous vehicle comprises an input device.

19. The system of claim 17 wherein the plurality of behaviors comprises manned operation, remote unmanned tele-operation, assisted remote tele-operation, and autonomous unmanned operation.

20. The system of claim 17 wherein the plurality of alternative actions comprises at least one trajectory set.

21. The system of claim 17 wherein the means for modifying at least a portion of the selected action set comprises means for determining a position of the autonomous vehicle.

22. The system of claim 17 wherein the means for modifying at least a portion of the selected action set comprises means for assessing an environment about the autonomous vehicle.

23. The system of claim 17 wherein the means for modifying at least a portion of the selected action set comprises means for recording at least one location of at least one terrain feature.

24. The system of claim 17 further comprising means for adjusting at least one of a translational velocity of the autonomous vehicle and a rotational velocity of the autonomous vehicle.

25. An article of manufacture comprising a program storage medium having computer readable program code embodied therein for hierarchical operation of an autonomous vehicle, the computer readable code in the article of manufacture including:

computer readable code for causing a computer to access a plurality of behaviors associated with at least one actuator, each behavior including at least one action set characterized at least in part by a priority and each action set including a plurality of alternative actions ranked according to a corresponding plurality of preferences;

computer readable code for causing a computer to select the action set having a highest corresponding priority;

computer readable code for causing a computer to select the alternative action from the selected action set, the alternative action having a highest corresponding preference; and

computer readable code for causing a computer to operate at least one input device in the autonomous vehicle in accordance with the selected alternative action, so as to achieve behavior based control of the autonomous vehicle.

26. The article of manufacture of claim 25 further comprising computer readable code for causing a computer to modify at least a portion of the selected action set.

27. A program storage medium readable by a computer, tangibly embodying a program of instructions executable by the computer to perform method steps for hierarchical operation of an autonomous vehicle having at least one actuator associated with at least one input device in the autonomous vehicle, the method steps comprising:

defining a plurality of behaviors associated with the at least one actuator, each behavior including at least one action set characterized at least in part by a priority and each action set including a plurality of alternative actions ranked according to corresponding plurality of preferences;

selecting, by at least one arbiter associated with the at least one actuator, of the action set having the highest corresponding priority;

selecting, by the at least one arbiter, of the alternative action from the selected action set having a highest corresponding preference;

operating the at least one input device in accordance with the selected alternative action.

28. The program storage medium of claim 27 further comprising computer readable code for causing a computer to perform the method step of modifying at least a portion of the selected action set.