DEVICES AND METHODS FOR WAYPOINT TARGET GENERATION AND MISSION SPOOLING FOR MOBILE GROUND ROBOTS
First Claim
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1. A device for waypoint designation comprising:
- a distance sensor configured for determining a distance between the device and a desired waypoint;
an orientation sensor configured for determining a heading and a pitch of the device when the device is pointed at the desired waypoint;
a position sensor configured for determining a position of the device; and
a controller configured for determining a position of the desired waypoint using the heading, pitch, and position of the device and the distance between the device and the desired waypoint.
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Abstract
Embodiments of the present invention improve mobile robot guidance and control by providing a position designation system for an unmanned vehicle, such as a mobile ground robot. This system allows an operator to select locations of interest on earth for the robot by pointing at the locations through an optical device that is able to discern global or local coordinates of the locations of interest. These waypoints may be spooled directly to the robot or through other mission planning elements that will make decisions about what to do with these locations of interest.
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Citations
29 Claims
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1. A device for waypoint designation comprising:
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a distance sensor configured for determining a distance between the device and a desired waypoint; an orientation sensor configured for determining a heading and a pitch of the device when the device is pointed at the desired waypoint; a position sensor configured for determining a position of the device; and a controller configured for determining a position of the desired waypoint using the heading, pitch, and position of the device and the distance between the device and the desired waypoint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for waypoint designation using a waypoint designation device, the waypoint designation device comprising a distance sensor, an orientation sensor, a position sensor, and a controller, the method comprising:
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determining, by the distance sensor, a distance between the waypoint designation device and a desired waypoint; determining, by the orientation sensor, a heading and a pitch of the waypoint designation device when the waypoint designation device is pointed at the desired waypoint; determining, by the position sensor, a position of the waypoint designation device; and determining, by the controller, a position of the desired waypoint using the heading, pitch, and position of the waypoint designation device and the distance between the waypoint designation device and the desired waypoint. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method for waypoint designation using a waypoint designation device, the waypoint designation device comprising a distance sensor, an orientation sensor, a position sensor, and a controller, the method comprising:
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determining, by the distance sensor, a distance between the waypoint designation device and a known location; determining, by the orientation sensor, a heading and a pitch of the waypoint designation device when the waypoint designation device is pointed at the known location; determining, by the distance sensor, a distance between the waypoint designation device and a desired waypoint; determining, by the orientation sensor, a heading and a pitch of the waypoint designation device when the waypoint designation device is pointed at the desired waypoint; and determining, by the controller, a position of the desired waypoint using the heading and pitch of the waypoint designation device when the waypoint designation device is pointed at the known location, the distance between the waypoint designation device and the known location, the heading and pitch of the waypoint designation device when the waypoint designation device is pointed at the desired waypoint, and the distance between the waypoint designation device and the desired waypoint. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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24. A method for waypoint designation using a waypoint designation device, the waypoint designation device comprising a distance sensor, an orientation sensor, a position sensor, and a controller, the method comprising:
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determining, by the distance sensor, a distance between the waypoint designation device and each of a plurality of desired waypoints; determining, by the orientation sensor, a heading and a pitch of the waypoint designation device when the waypoint designation device is pointed at each of the plurality of desired waypoints; determining, by the position sensor, a position of the waypoint designation device; and determining, by the controller, a position of each of the plurality of desired waypoints using the heading, pitch, and position of the waypoint designation device and the distance between the waypoint designation device and each of the plurality of desired waypoints. - View Dependent Claims (25, 26, 27, 28, 29)
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Specification