Autonomous vehicle navigation system and method

• US 6,454,036 B1
• Filed: 05/15/2000
• Issued: 09/24/2002
• Est. Priority Date: 05/15/2000
• Status: Expired due to Fees

• Current Assignee: 'Bots Incorporated
• Original Assignee: 'Bots Incorporated
• Inventors: Servatius, Herman, Airey, Donald Roy
• Primary Examiner(s): Johnson, Brian L.
• Assistant Examiner(s): KLEBE, GERALD B
• Application Number:
  US09/571,761
• Time in Patent Office: 862 Days
• Field of Search: 180/167, 180/168, 180/169, 701/23, 701/25, 701/24, 701/201, 701/202, 701/207, 701/208, 701/216, 701/210, 318/587, 318/139, 733/82.R, 733/82.G, 734/90, 731/78.R, 324/345, 324/346, 324/324, 324/326, 324/220, 324/221, 175/26
• US Class Current: 180/167
• CPC Class Codes: G01C 21/16 by integrating acceleration or speed, i.e. inertial navigation
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

The invention allows an automated vehicle to reliably and repeatedly navigate any arbitrary area or path after being trained by an operator. This invention uses the Earth'"'"'s magnetic and gravitational fields for directional vectors and uses optical shaft encoders mounted on a non-driving wheel to accurately measure the distance traveled. These sensory inputs are sufficient to accurately locate the vehicle in three-dimensional space and can be compared against a stored map to generate the navigational signal. Training the vehicle involves storing this sensory information in a computerized log as an operator moves the vehicle over the target area. Once the vehicle has been trained, it is able to recognize and navigate the terrain without the need for artificial landmarks or human intervention.

Claims

1. A system for guiding a powered vehicle moving across a surface, comprising:

a three-axis magnetometer with three magnetometers sensing along mutually orthogonal axes, for sensing the three components of the earth'"'"'s magnetic field;

a three-axis accelerometer with three accelerometers sensing along mutually orthogonal axes, for sensing the three components of the earth'"'"'s gravitational field;

means for determining the distance traveled by said vehicle; and

means, responsive to said three-axis magnetometer and said three-axis accelerometer, and to said means for determining, for guiding the vehicle.

2. The system of claim 1 wherein said means for determining the distance traveled comprises means for measuring the rotation of a passive wheel on the vehicle.

3. The system of claim 2 wherein said means for measuring the distance traveled further comprises means for measuring the angular motion of said passive wheel with respect to said vehicle.

4. The system of claim 2 wherein said means for measuring rotation comprises a flexible shaft coupled to said passive wheel, and means for determining rotation of said flexible shaft.

5. The system of claim 3 wherein said means for measuring the angular motion of said passive wheel with respect to said vehicle comprises an absolute shaft encoder.

6. The system of claim 1 wherein said vehicle includes at least two independently controllable driven devices.

7. The system of claim 6 wherein said means for guiding the vehicle includes means for controlling the speed and direction of motion of each said driven device.

8. The system of claim 7 where in said driven devices comprise wheels.

9. A method of guiding a powered vehicle moving across a surface, comprising:

a step of sensing the earth'"'"'s magnetic field with a three-axis magnetometer with three magnetometers sensing along mutually orthogonal axes, for sensing the three components of the earth'"'"'s magnetic field;

a step of sensing the earth'"'"'s gravitational field with a three-axis accelerometer with three accelerometers sensing along mutually orthogonal axes, for sensing the three components of the earth'"'"'s gravitational field;

a step of determining the distance traveled by said vehicle; and

in response to both of said sensing steps, and to said determining step, guiding the vehicle.

10. The method of claim 9 further comprising training said vehicle to traverse a path along the surface.

11. The method of claim 10 further including designating a starting location for the vehicle.

12. The method of claim 11 wherein designating a starting location for the vehicle comprises fixing a location for starting both the training and the later traversing.

13. The method of claim 10 wherein training said vehicle comprises directing said vehicle along a path on the surface.

14. The method of claim 10 wherein training said vehicle further comprises periodically during said training saving in an electronic memory information representing the distance traveled, and information representing the magnetic and gravitational vectors.

15. The method of claim 14 wherein training said vehicle further comprises creating from said saved information a map of the surface.

16. The method of claim 15 wherein guiding said vehicle comprises determining the current location of said vehicle, comparing that to said map, and generating an error signal in response.

17. The method of claim 16 wherein said vehicle includes at least two independently controllable driven devices.

18. The method of claim 17 wherein guiding the vehicle includes controlling the speed and direction of motion of each said driven device in response to said error signal.