AUTONOMOUS NAVIGATION SYSTEM AND METHOD FOR A MANEUVERABLE PLATFORM

• US 20110288714A1
• Filed: 12/28/2009
• Published: 11/24/2011
• Est. Priority Date: 12/30/2008
• Status: Active Grant

• Current Assignee: Elbit Systems Limited
• Original Assignee: Elbit Systems Limited
• Inventors: Steiner, Gilad, Ben Zur, Inon, Flohr, Myriam
• Granted Patent: US 8,612,085 B2
• Time in Patent Office: Days
• US Class Current: 701/27
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles

Abstract

An automated method for autonomous navigation of a maneuverable platform is disclosed. The method includes providing an autonomous navigation system that includes a situation awareness module to receive data from one or more sensors on one or more identifying parameters selected from the group of identifying parameters that includes position, course and speed, relating to the platform and obstacles in the vicinity of the platform. The platform also includes a decision module to choose course and speed for the platform based on the identifying parameters of the obstacles in the vicinity of the platform and the data on the position of the platform. The method further includes providing the decision module with information on a mission that includes at least one task assigned to the platform; and periodically obtaining the data and choosing a preferred option using the decision module, based on the identifying parameters, by assigning, for each option from a set of options, each option defining a distinct combination of course and speed, a grade which is indicative of the desirability of that option with respect to each of the obstacles and with respect to each of a plurality of objectives, for each option summing the grades assigned to that option with respect to all obstacles, wherein the preferred option is the option whose summed grades is indicative of the greatest desirability of that option.

Claims

1. An automated method for autonomous navigation of a maneuverable platform the method comprising:

providing an autonomous navigation system that includes;

a situation awareness module to receive data from one or more sensors on one or more identifying parameters selected from the group of identifying parameters that includes position, course and speed, relating to the platform and obstacles in the vicinity of the platform;

a decision module to choose course and speed for the platform based on said one or more identifying parameters of the obstacles in the vicinity of the platform and the data on the position of the platform;

providing the decision module with information on a mission that includes at least one task assigned to the platform; and

periodically obtaining the data and choosing a preferred option using the decision module, based on the identifying parameters, by assigning, for each option from a set of options, each option defining a distinct combination of course and speed, a grade which is indicative of the desirability of that option with respect to each of the obstacles and with respect to each of a plurality of objectives, for each option summing the grades assigned to that option with respect to all obstacles, wherein the preferred option is the option whose summed grades is indicative of the greatest desirability of that option.

2. The method as claimed in claim 1, further comprising providing a platform control module for maneuvering the platform and commanding drive controls of the platform to apply the course and speed of the preferred option for the platform.

3. The method as claimed in claim 1, further comprising planning said at least one task.

4. The method as claimed in claim 1, further comprising planning a mission plan for the mission.

5. The method as claimed in claim 4, wherein the step of choosing a preferred option includes determining whether said at least one task cannot be accomplished according to plan before choosing the preferred option.

6. The method as claimed in claim 5, wherein the step of determining whether said at least one task cannot be accomplished according to plan includes, for each obstacle, calculating projected positions of the platform and of that obstacle to determine the distance between the platform and the obstacle at the closest point of approach and estimated time to arrive to the closest point of approach, and determining, with respect to an early reaction time and an avoidance distance suitable for that obstacle and the platform, whether that distance is smaller or greater than the avoidance distance.

7. The method as claimed in claim 1, comprising assigning a weight to each of the objectives indicative of importance attributed to that objective, and in the step of choosing the preferred option, taking into account the weights assigned to the objectives.

8. The method as claimed in claim 7, wherein the step of assigning a weight to each of the objectives is carried out using an input device.

9. The method as claimed in claim 1, wherein the objectives are selected from a group of objectives including:

conforming to traffic rules, avoiding collisions with other obstacles, maintaining a speed within a predefined range, avoiding substantial speed changes, avoiding substantial course changes, making a noticeable course change, performing the task according to plan and fulfilling the task.

10. The method as claimed in claim 1, wherein the platform is selected from a group of platforms that includes:

manned or unmanned aerial, ground and maritime platforms.

11. The method as claimed in claim 1, comprising choosing an option that is not the preferred option.

13. A computer readable medium containing computer executable instructions, that when executed on a computer perform the steps of claim 1.

12. (canceled)

14. An autonomous navigation system for maneuvering a maneuverable platform the system comprising:

a situation awareness module to receive data from one or more sensors on one or more identifying parameters selected from the group of identifying parameters that includes position, course and speed, relating to the platform and obstacles in the vicinity of the platform; and

a decision module to choose course and speed for the platform based on said one or more identifying parameters of the obstacles in the vicinity of the platform and the data on the position of the platform, the decision module adapted to periodically obtain the data and determine a preferred option, based on the identifying parameters, by assigning, for each option from a set of options, each option defining a distinct combination of course and speed, a grade which is indicative of the desirability of that option with respect to each of the obstacles and with respect to each of a plurality of objectives, for each option summing the grades assigned to that option with respect to all obstacles, wherein the preferred option is the option whose summed grades is indicative of the greatest desirability of that option.

15. The system as claimed in claim 14, further comprising a platform control module for maneuvering the platform by commanding drive controls of the platform to apply the course and speed of the preferred option for the platform.

16. The system as claimed in claim 14, wherein the decision module is designed to calculate projected positions of the platform and of that obstacle to determine the distance between the platform and the obstacle at the closest point of approach and estimated time to arrive to the closest point of approach, and determining, with respect to an early reaction time and an avoidance distance suitable for that obstacle and the platform, whether that distance is smaller or greater than the avoidance distance.

17. The system as claimed in claim 14, wherein the decision module is adapted to take into account a weight assigned to each of the objectives indicative of importance attributed to that objective, when choosing the preferred option.

18. The system as claimed in claim 14, wherein an input device is provided onboard the platform.

19. The system as claimed in claim 14, wherein the environment sensors are selected from a group of sensors including:

radar, external command and control system, electro-optic payload and automatic identification system (AIS).

20. The system as claimed in claim 14, wherein the navigation sensors are selected from a group of sensors including:

global positioning system (GPS) receiver, inertial measurement unit (IMU), Gyro, accelerometers, 6dof sensors, compass, and speed indicator.

21. The system as claimed in claim 14, further provided with means for providing information on the chosen option to a human operator.

22. (canceled)