Control System And Method For Robotic Motion Planning And Control

• US 20170341235A1
• Filed: 09/30/2016
• Published: 11/30/2017
• Est. Priority Date: 05/27/2016
• Status: Abandoned Application

• Current Assignee: GE Global Sourcing LLC (Westinghouse Air Brake Technologies Corporation)
• Original Assignee: General Electric Company
• Inventors: Baloch, Ghulam Ali, Tan, Huan, Kannan, Balajee, Theurer, Charles
• Application Number:
  US15/282,102
• Publication Number:
  US 20170341235A1
• Time in Patent Office: Days
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: G05B 2219/39082 Collision, real time collision avoidance
• CPC Class Codes: G05B 2219/40282 Vehicle supports manipulator and other controlled devices
• CPC Class Codes: G05B 2219/40424 Online motion planning, in real time, use vision to detect workspace changes
• CPC Class Codes: G05B 2219/45084 Service robot
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/243 Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249
• CPC Class Codes: G05D 1/246 using environment maps, e.g. simultaneous localisation and mapping [SLAM]
• CPC Class Codes: G05D 1/249 from positioning sensors located off-board the vehicle, e.g. from cameras
• CPC Class Codes: G05D 1/81 Handing over between on-board automatic and on-board manual control
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robotic system includes a robotic vehicle having a propulsion system, one or more sensors that image data representative of an external environment, and a controller that determines a waypoint for the robotic vehicle to move toward. The controller determines limitations on movement of the robotic vehicle toward a waypoint. The limitations are based on the image data. The controller controls the propulsion system to move the robotic vehicle to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects. The controller determines one or more additional waypoints subsequent to the robotic vehicle reaching the waypoint, determines one or more additional limitations on the movement of the robotic vehicle toward each of the respective additional waypoints, and control the propulsion system of the robotic vehicle to sequentially move the robotic vehicle to the one or more additional waypoints.

Claims

1. A robotic system comprising:

a robotic vehicle having a propulsion system configured to propel the robotic vehicle;

one or more sensors configured to be disposed onboard the robotic vehicle and to obtain image data representative of an external environment; and

a controller configured to be disposed onboard the robotic vehicle and to determine a waypoint for the robotic vehicle to move toward, the waypoint located between a current location of the robotic vehicle and a final destination of the robotic vehicle, the controller also configured to determine limitations on movement of the robotic vehicle toward the waypoint, wherein the limitations are based on the image data, and wherein the controller is configured to control the propulsion system to move the robotic vehicle to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects,

wherein the controller also is configured to determine one or more additional waypoints subsequent to the robotic vehicle reaching the waypoint, determine one or more additional limitations on the movement of the robotic vehicle toward each of the respective additional waypoints, and control the propulsion system of the robotic vehicle to sequentially move the robotic vehicle to the one or more additional waypoints.

2. The robotic system of claim 1, wherein the one or more sensors are configured to obtain a point cloud of the external environment using one or more structured light sensors.

3. The robotic system of claim 1, wherein the controller is configured to determine the limitations on the movement of the robotic vehicle by determining relative locations of one or more objects in the external environment based on the image data and restricting movement of the robotic vehicle to avoid colliding with the one or more objects.

4. The robotic system of claim 1, wherein the controller is configured to determine the limitations using simultaneous localization and mapping to restrict the movement of the robotic vehicle.

5. The robotic system of claim 1, wherein the controller also is configured to stop movement of the robotic vehicle responsive to the robotic vehicle moving farther than a designated, non-zero distance toward the waypoint.

6. The robotic system of claim 1, wherein the final destination of the robotic vehicle is a brake lever of a vehicle.

7. The robotic system of claim 1, wherein the controller also is configured to switch between manual control of the movement of the robotic vehicle and autonomous movement of the robotic vehicle based on input received from a control unit disposed off-board the robotic vehicle.

8. A method comprising:

obtaining image data representative of an environment external to a robotic system;

determining a waypoint for the robotic system to move toward, the waypoint located between a current location of the robotic system and a final destination of the robotic system;

determining limitations on movement of the robotic system toward the waypoint, wherein the limitations are based on the image data;

controlling a propulsion system of the robotic system to move the robotic system to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects;

determining one or more additional waypoints subsequent to the robotic system reaching the waypoint;

determining one or more additional limitations on the movement of the robotic system toward each of the respective additional waypoints; and

controlling the propulsion system of the robotic system to sequentially move the robotic system to the one or more additional waypoints.

9. The method of claim 8, wherein obtaining the image data includes obtaining a point cloud using one or more structured light sensors.

10. The method of claim 8, wherein determining the limitations on the movement of the robotic system include determining relative locations of one or more objects in the environment based on the image data and restricting movement of the robotic system to avoid colliding with the one or more objects.

11. The method of claim 8, wherein determining the limitations includes using simultaneous localization and mapping to restrict the movement of the robotic system.

12. The method of claim 8, further comprising stopping movement of the robotic system responsive to the robotic system moving farther than a designated, non-zero distance toward the waypoint.

13. The method of claim 8, wherein the final destination of the robotic system is a brake lever of a vehicle.

14. The method of claim 8, further comprising switching between manual control of the movement of the robotic system and autonomous movement of the robotic system based on input received from a control unit disposed off-board the robotic system.

15. A robotic system comprising:

a robotic vehicle having a propulsion system configured to propel the robotic vehicle;

one or more structured light sensors configured to be disposed onboard the robotic vehicle and to obtain point cloud data representative of an external environment; and

a controller configured to be disposed onboard the robotic vehicle and to determine a waypoint for the robotic vehicle to move toward, the waypoint located between a current location of the robotic vehicle and a brake lever of a vehicle, the controller also configured to determine limitations on movement of the robotic vehicle toward the waypoint, wherein the limitations are based on the point cloud data, and wherein the controller is configured to control the propulsion system to move the robotic vehicle to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects.

16. The robotic system of claim 15, wherein the controller also is configured to determine one or more additional waypoints subsequent to the robotic vehicle reaching the waypoint, determine one or more additional limitations on the movement of the robotic vehicle toward each of the respective additional waypoints, and control the propulsion system of the robotic vehicle to sequentially move the robotic vehicle to the one or more additional waypoints.

17. The robotic system of claim 15, wherein the controller is configured to determine the limitations on the movement of the robotic vehicle by determining relative locations of one or more objects in the external environment based on the point cloud data and restricting movement of the robotic vehicle to avoid colliding with the one or more objects.

18. The robotic system of claim 15, wherein the controller is configured to determine the limitations using simultaneous localization and mapping to restrict the movement of the robotic vehicle.

19. The robotic system of claim 15, wherein the controller also is configured to stop movement of the robotic vehicle responsive to the robotic vehicle moving farther than a designated, non-zero distance toward the waypoint.

20. The robotic system of claim 15, wherein the controller also is configured to switch between manual control of the movement of the robotic vehicle and autonomous movement of the robotic vehicle based on input received from a control unit disposed off-board the robotic vehicle.