UNMANNED GROUND VEHICLE STABILITY CONTROL
First Claim
1. A method for providing a robotic vehicle with tip over prevention, comprising:
- determining, by an electronic circuit, a stability footprint, attitude and orientation of the robotic vehicle, where the electronic circuit is disposed on or in the robotic vehicle which is traveling over sloped or inclined terrain;
computing, by the electronic circuit, a center of gravity of the robotic vehicle;
projecting, by the electronic circuit, the center of gravity onto the stability footprint;
determining, by the electronic circuit, whether the center of gravity is within an acceptable region of the stability footprint;
calculating a new desired configuration for a movable component mounted on a body of the robotic vehicle when a determination is made that the center of gravity is not within the acceptable region of the stability footprint; and
dynamically selectively changing the center of gravity of the robotic vehicle by commanding the movable component to the new desired configuration so as to shift the robotic vehicle'"'"'s weight for preventing vehicle tip over while the robotic vehicle travels across a sloped or inclined area.
1 Assignment
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Accused Products
Abstract
Systems (100) and methods (600) for providing a robotic vehicle (100) with tip over prevention. The methods involve: determining a stability footprint, attitude and orientation of the robotic vehicle; computing a center of gravity of the robotic vehicle; projecting the center of gravity onto the stability footprint; determining whether the center of gravity is within an acceptable region of the stability footprint; calculating a new desired configuration for a movable component of the robotic vehicle when a determination is made that the center of gravity is within the acceptable region of the stability footprint; and commanding the movable component (106) to the new desired configuration.
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Citations
20 Claims
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1. A method for providing a robotic vehicle with tip over prevention, comprising:
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determining, by an electronic circuit, a stability footprint, attitude and orientation of the robotic vehicle, where the electronic circuit is disposed on or in the robotic vehicle which is traveling over sloped or inclined terrain; computing, by the electronic circuit, a center of gravity of the robotic vehicle; projecting, by the electronic circuit, the center of gravity onto the stability footprint; determining, by the electronic circuit, whether the center of gravity is within an acceptable region of the stability footprint; calculating a new desired configuration for a movable component mounted on a body of the robotic vehicle when a determination is made that the center of gravity is not within the acceptable region of the stability footprint; and dynamically selectively changing the center of gravity of the robotic vehicle by commanding the movable component to the new desired configuration so as to shift the robotic vehicle'"'"'s weight for preventing vehicle tip over while the robotic vehicle travels across a sloped or inclined area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A robotic vehicle, comprising:
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an electronic circuit disposed on or in the robotic vehicle which performs operations when the robotic vehicle is traveling over a sloped or inclined area to; determine a stability footprint, attitude and orientation of the robotic vehicle; compute a center of gravity of the robotic vehicle; project the center of gravity onto the stability footprint; determine whether the center of gravity is within an acceptable region of the stability footprint; calculate a new desired configuration for a movable component of the robotic vehicle when a determination is made that the center of gravity is not within the acceptable region of the stability footprint; and dynamically selectively change the center of gravity of the robotic vehicle by commanding the movable component to the new desired configuration so as to shift the robotic vehicle'"'"'s weight for preventing vehicle tip over while the robotic vehicle travels across a sloped or inclined area. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification