COLLABORATIVE ENGAGEMENT FOR TARGET IDENTIFICATION AND TRACKING

• US 20100017046A1
• Filed: 03/16/2009
• Published: 01/21/2010
• Est. Priority Date: 03/16/2008
• Status: Active Grant

• Current Assignee: Aerovironment, Carnegie Mellon University, Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: Aerovironment
• Inventors: Singh, Sanjiv, Cox, Earl Clyde, Grocholsky, Benjamin Peter, Cheung, Carol Carlin, Geyer, Christopher Michael, Moseley, Mark Bourne, Yamauchi, Brian Masao, Jones, Christopher Vernon
• Granted Patent: US 8,244,469 B2
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• 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 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• 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 1/0246 using a video camera in combination with image processing means
• 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: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00

Abstract

A collaborative engagement system comprises: at least two unmanned vehicles comprising an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track a target; and a controller facilitating control of, and communication and exchange of data to and among the unmanned vehicles, the controller facilitating data exchange via a common protocol. The collaborative engagement system controls the unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles.

Claims

1. A collaborative engagement system comprising:

at least two unmanned vehicles comprising an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track a target; and

a controller facilitating control of, and communication and exchange of data to and among the unmanned vehicles, the controller facilitating data exchange via a common protocol;

wherein the collaborative engagement system controls the unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles.

2. The system of claim 1, wherein the controller is an operator control unit

3. The system of claim 2, wherein an operator identifies the predetermined target via the operator control unit.

4. The system of claim 1, wherein, when a first unmanned vehicle has line-of-sight to the predetermined target, another unmanned vehicle utilizes information regarding the position of the first unmanned vehicle and information regarding a position of the target relative to the first unmanned vehicle to plan a path to reach a position that has or will have line-of-sight to the predetermined target.

5. The system of claim 4, wherein the position that has or will have line-of-sight to the predetermined target takes into account a projected path of the target.

6. The system of claim 1, wherein the collaborative engagement system geolocates the predetermined target with the unmanned air vehicle and transmits information regarding the position of the unmanned air vehicle and information regarding a position of the target relative to the unmanned air vehicle to the unmanned ground vehicle so that the unmanned ground vehicle can do path planning based on a geolocation of the target.

7. The system of claim 6, wherein updated information regarding target position is sent to the unmanned ground vehicle at predetermined intervals.

8. The system of claim 1, wherein the unmanned air vehicle orbits a building containing the predetermined target and determines if the predetermined target exits the building.

9. The system of claim 8, wherein the unmanned air vehicle sends information regarding predetermined target building entry and exit to one or more unmanned ground vehicles that can surround and/or enter the building to follow the predetermined target.

10. The system of claim 1, wherein the system controls the unmanned vehicles to obtain or maintain line-of-sight using waypoint navigation.

11. The system of claim 1, wherein the system controls the unmanned vehicles to obtain or maintain line-of-sight using path planning.

12. The system of claim 1, wherein the system controls the unmanned vehicles to obtain or maintain line-of-sight using an object avoidance behavior.

13. The system of claim 1, wherein the system controls the unmanned vehicles to obtain or maintain line-of-sight using.

14. The system of claim 1, wherein the system allows operator override to control the unmanned vehicles.

15. The system of claim 14, wherein the system allows the operator to override waypoint navigation.

16. The system of claim 14, wherein the system controls the unmanned vehicles to assist the operator in searching for a target.

17. The system of claim 16, wherein the operator designates an area in which the unmanned vehicles navigate to assist the operator in searching for a target.

18. The system of claim 16, wherein the operator designates an area in which the unmanned vehicles do not navigate to assist the operator in searching for a target or maintain line-of-sight with a predetermined target.

19. A portable tasking interface for facilitating collaboration among at least two unmanned vehicles, the at least two unmanned vehicles comprising an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track a target, the portable tasking interface facilitating control of, and communication and exchange of data to and among, the unmanned vehicles via a common protocol;

wherein the portable tasking interface is configured to control the unmanned vehicles to assist the operator in searching for a target and to maintain a line-of-sight between an operator-selected target and at least one of the unmanned vehicles.

20. A method for collaborative target detection and tracking by unmanned vehicles with operator supervision, the method comprising:

receiving target-relevant data from unmanned vehicles;

utilizing the target-relevant data to manually detect and select a target; and

tracking the selected target via autonomous or semi-autonomous behaviors on each unmanned vehicle such that at least one unmanned vehicle maintains line-of-sight with the target.

21. The method of claim 20, wherein the target-relevant data comprises video data and geolocation data.

22. The method of claim 20, wherein the target-relevant data comprises measurements from unmanned air vehicles and unmanned ground vehicles.

23. The method of claim 22, further comprising localizing the target using the measurements from unmanned air vehicles and unmanned ground vehicles.

24. The method of claim 23, further comprising disseminating the target location.

25. The method of claim 24, further comprising path planning based on the disseminated target location.