Sensor-Centric Path Planning and Control for Robotic Vehicles
First Claim
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1. A method of controlling rotational maneuvers of a robotic vehicle, comprising:
- determining, by a processor of the robotic vehicle, a rotational maneuver to perform about an axis at a center of gravity of the robotic vehicle;
determining, by the processor, an anticipated translational movement of a center of sensing of a sensor positioned away from the center of gravity of the robotic vehicle based on the rotational maneuver and a distance between the center of gravity of the robotic vehicle and the center of sensing; and
controlling, by the processor, the robotic vehicle to perform a rotational maneuver such that the robotic vehicle rotates about the center of sensing of the sensor.
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Abstract
Various embodiments involve controlling rotational maneuvers of a robotic vehicle (e.g., an unmanned aerial vehicle or UAV) so that commanded changes in vehicle attitude (e.g., pitch, roll, and/or yaw) may be performed as rotations about a center of sensing of a sensor instead of the vehicle'"'"'s center of gravity. Maneuvers performed according to various embodiments may reduce or eliminate translational movements in the sensor output that occur when the robotic vehicle rotates about the center of gravity and the sensor is mounted some distance from the center of gravity.
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Citations
25 Claims
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1. A method of controlling rotational maneuvers of a robotic vehicle, comprising:
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determining, by a processor of the robotic vehicle, a rotational maneuver to perform about an axis at a center of gravity of the robotic vehicle; determining, by the processor, an anticipated translational movement of a center of sensing of a sensor positioned away from the center of gravity of the robotic vehicle based on the rotational maneuver and a distance between the center of gravity of the robotic vehicle and the center of sensing; and controlling, by the processor, the robotic vehicle to perform a rotational maneuver such that the robotic vehicle rotates about the center of sensing of the sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computing device for a robotic vehicle, comprising:
a processor configured with processor-executable instructions to; determine a rotational maneuver to perform about an axis at a center of gravity of the robotic vehicle; determine an anticipated translational movement of a center of sensing of a sensor positioned away from the center of gravity of the robotic vehicle based on the rotational maneuver and a distance between the center of gravity of the robotic vehicle and the center of sensing; and control the robotic vehicle to perform a rotational maneuver such that the robotic vehicle rotates about the center of sensing of the sensor. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A processing device comprising:
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a processor configured with processor-executable instructions to; determine a rotational maneuver to perform about an axis at a center of gravity of a robotic vehicle; determine an anticipated translational movement of a center of sensing of a sensor positioned away from the center of gravity of the robotic vehicle based on the rotational maneuver and a distance between the center of gravity of the robotic vehicle and the center of sensing; and control the robotic vehicle to perform a rotational maneuver such that the robotic vehicle rotates about the center of sensing of the sensor. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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25. A computing device for a robotic vehicle, comprising:
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means for determining a rotational maneuver to perform about an axis at a center of gravity of the robotic vehicle; means for determining an anticipated translational movement of a center of sensing of a sensor positioned away from the center of gravity of the robotic vehicle based on the rotational maneuver and a distance between the center of gravity of the robotic vehicle and the center of sensing; and means for controlling the robotic vehicle to perform a rotational maneuver such that the robotic vehicle rotates about the center of sensing of the sensor.
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Specification