Method and apparatus for smooth control of a vehicle with automatic recovery for interference
First Claim
1. A method of controlling a vehicle comprising the steps ofstarting from a stored configuration space representation of an environment of the vehicle, which stored configuration space representation includes a plurality of stored direction arrows defining paths to a goal, which direction arrows are selected from a neighborhood of direction arrows in which some arrows of the neighborhood are of like-kind with each other and some arrows of the neighborhood are of different kind;
- concatenating a plurality of like-kind direction arrows in the configuration space to specify a single motion, which is longer than individual motions specified by any of the concatenated like-kind direction arrows, to pose corresponding to a target setpoint; and
controlling the vehicle to reach the pose corresponding to the target setpoint, without separately specifying the individual motions.
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Accused Products
Abstract
In order to provide smooth control a vehicle control method includes concatenating like-kind direction arrows in a configuration space. In addition, a stopping criterion is used to change a control signal in time to achieve stopping at a desired setpoint. To improve error recovery, control signals are changed in response to an error exceeding a predetermined limit.
85 Citations
15 Claims
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1. A method of controlling a vehicle comprising the steps of
starting from a stored configuration space representation of an environment of the vehicle, which stored configuration space representation includes a plurality of stored direction arrows defining paths to a goal, which direction arrows are selected from a neighborhood of direction arrows in which some arrows of the neighborhood are of like-kind with each other and some arrows of the neighborhood are of different kind; -
concatenating a plurality of like-kind direction arrows in the configuration space to specify a single motion, which is longer than individual motions specified by any of the concatenated like-kind direction arrows, to pose corresponding to a target setpoint; and controlling the vehicle to reach the pose corresponding to the target setpoint, without separately specifying the individual motions.
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2. A method of controlling a vehicle comprising the steps of, during motion of a vehicle under control of control signals:
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transmitting a stopping setpoint of the vehicle as the control signals, which stopping setpoint corresponds to the desired stopping pose; computing a stopping criterion for the vehicle based on the stopping setpoint, which stopping criterion is the vehicle intersecting a geometrical element, which geometrical element extends for a non-zero distance in at least one dimension; sensing a sensed pose of the vehicle when the vehicle meets the stopping criterion; and changing the control signals in response to the sensed pose of the vehicle, so that the vehicle moves to the desired stopping pose. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of controlling a vehicle for automatic error recovery comprising the following steps, during motion of the vehicle under control of control signals:
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maintaining a stored configuration space representation of an environment of the vehicle, which representation includes a plurality of states and a direction arrow value for each state, the direction arrow values pointing to a desired goal; sensing a parameter of the vehicle; setting limits defining an acceptable range of error in the sensed parameter of the vehicle; monitoring the error; if the error exceeds the limits, revising an estimation of a current state of the vehicle in the configuration space representation and transmitting a changed control signal based on the revised estimation. - View Dependent Claims (13, 14, 15)
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Specification