OPEN CONTROL SYSTEM ARCHITECTURE FOR MOBILE AUTONOMOUS SYSTEMS
First Claim
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1. A control system for a mobile autonomous system, the control system comprising:
- a generic controller platform including;
at least one microprocessor; and
a computer readable medium storing software implementing at least core functionality for controlling autonomous system; and
one or more user-definable libraries adapted to link to the generic controller platform so as to instantiate a machine node capable of exhibiting desired behaviours of the mobile autonomous system.
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Abstract
A control system for a mobile autonomous system. The control system comprises a generic controller platform including: at least one microprocessor; and a computer readable medium storing software implementing at least core functionality for controlling autonomous system. One or more user-definable libraries adapted to link to the generic controller platform so as to instantiate a machine node capable of exhibiting desired behaviours of the mobile autonomous system.
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Citations
31 Claims
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1. A control system for a mobile autonomous system, the control system comprising:
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a generic controller platform including;
at least one microprocessor; and
a computer readable medium storing software implementing at least core functionality for controlling autonomous system; and
one or more user-definable libraries adapted to link to the generic controller platform so as to instantiate a machine node capable of exhibiting desired behaviours of the mobile autonomous system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. In a control system for a mobile autonomous system, a method of detecting a gate comprising steps of:
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examining each pair of objects detected within a vicinity of the autonomous system to identify pairs of objects having a predetermined size and separation distance, within respective predetermined tolerances;
examining each identified pair of objects to identify an object pair that is closest to an expected geographical location and orientation of the gate, based on world model information provided by the Director layer; and
calculating a gate signature for the identified object pair. - View Dependent Claims (30)
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31. In a control system for a mobile autonomous system, a method of avoiding an object, the method comprising steps of:
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identifying, from objects detected within a predetermined avoidance zone of the autonomous system, a closest object to the autonomous system;
determining a manoeuvre for avoiding the identified closest object; and
forcing execution of the determined manoeuvre.
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Specification