CONTROLLING UNMANNED AERIAL VEHICLES TO AVOID OBSTACLE COLLISION
First Claim
1. A method for controlling an unmanned aerial vehicle (UAV) to avoid obstacle collision, comprising:
- (a) acquiring range data of a real-world scene using one or more range sensors, wherein the range data comprises depth data to one or more visible objects;
(b) combining the range data into an egospace representation comprising one or more pixels in egospace, wherein egospace comprises a coordinate system;
(c) expanding an apparent size of each of the one or more visible objects based on a dimension of the UAV;
(d) receiving an assigned destination in the real world scene based on world space;
(e) transforming the assigned destination into egospace coordinates in egospace;
(f) generating a trackable path from the UAV to the assigned destination through egospace that avoids collision with the one or more visible objects based on the expanded apparent sizes of each of the one or more visible objects; and
(g) identifying one or more inputs that control the UAV to follow the trackable path.
2 Assignments
0 Petitions
Accused Products
Abstract
A method, device, framework, and system provide the ability to control an unmanned aerial vehicle (UAV) to avoid obstacle collision. Range data of a real-world scene is acquired using range sensors (that provide depth data to visible objects). The range data is combined into an egospace representation (consisting of pixels in egospace). An apparent size of each of the visible objects is expanded based on a dimension of the UAV. An assigned destination in the real world scene based on world space is received and transformed into egospace coordinates in egospace. A trackable path from the UAV to the assigned destination through egospace that avoids collision with the visible objects (based on the expanded apparent sizes of each of the visible objects) is generated. Inputs that control the UAV to follow the trackable path are identified.
-
Citations
14 Claims
-
1. A method for controlling an unmanned aerial vehicle (UAV) to avoid obstacle collision, comprising:
-
(a) acquiring range data of a real-world scene using one or more range sensors, wherein the range data comprises depth data to one or more visible objects; (b) combining the range data into an egospace representation comprising one or more pixels in egospace, wherein egospace comprises a coordinate system; (c) expanding an apparent size of each of the one or more visible objects based on a dimension of the UAV; (d) receiving an assigned destination in the real world scene based on world space; (e) transforming the assigned destination into egospace coordinates in egospace; (f) generating a trackable path from the UAV to the assigned destination through egospace that avoids collision with the one or more visible objects based on the expanded apparent sizes of each of the one or more visible objects; and (g) identifying one or more inputs that control the UAV to follow the trackable path. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A navigation framework in an unmanned aerial vehicle that avoids obstacle collision:
(a) an embedded flight computer integrated into the UAV that enables the UAV to maneuver, wherein the UAV; (1) acquires range data of a real-world scene using one or more range sensors mounted on the UAV, wherein the range data comprises depth data to one or more visible objects; (2) combines the range data into an egospace representation comprising one or more pixels in egospace, wherein egospace comprises a coordinate system; (3) expands an apparent size of each of the one or more visible objects based on a dimension of the UAV; (4) receives an assigned destination in the real world scene based on world space; (5) transforms the assigned destination into egospace coordinates in egospace; (6) generates a trackable path from the UAV to the assigned destination through egospace that avoids collision with the one or more visible objects based on the expanded apparent sizes of each of the one or more visible objects; and (7) identifies one or more inputs that control the UAV to follow the trackable path. - View Dependent Claims (9, 10, 11, 12, 13, 14)
Specification