Navigating a UAV with obstacle avoidance algorithms

• US 7,228,232 B2
• Filed: 01/24/2005
• Issued: 06/05/2007
• Est. Priority Date: 01/24/2005
• Status: Active Grant

• Current Assignee: Wildcat Licensing LLC
• Original Assignee: International Business Machines Corporation
• Inventors: Thorson, Derral Charles, Bodin, William Kress, Redman, Jesse
• Primary Examiner(s): Zanelli; Michael J.
• Application Number:
  US11/041,831
• Publication Number:
  US 20070106473A1
• Time in Patent Office: 862 Days
• Field of Search: None
• US Class Current: 701/301
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft

Abstract

Methods, systems, and computer program products are provided for navigating a UAV that include piloting the UAV, under control of a navigation computer, in accordance with a navigation algorithm. While piloting the UAV, embodiments include reading from the GPS receiver a sequence of GPS data, anticipating a future position of the UAV, identifying an obstacle in dependence upon the future position, selecting an obstacle avoidance algorithm, and piloting the UAV in accordance with an obstacle avoidance algorithm. Identifying an obstacle in dependence upon the future position may include comprises retrieving obstacle data from a database in dependence the future position. Identifying an obstacle in dependence upon the future position may also include depicting an anticipated flight of the UAV with 3D computer graphics in dependence upon the future position and identifying an obstacle in dependence upon the depiction of the anticipated flight.

Claims

1. A method for navigating a UAV, the method comprising:

piloting the UAV, under control of a navigation computer, in accordance with a navigation algorithm;

while piloting the UAV;

reading from a GPS receiver a sequence of GPS data;

anticipating a future position of the UAV in dependence upon the sequence of GPS data;

identifying an obstacle in dependence upon the future position;

selecting an obstacle avoidance algorithm; and

piloting the UAV in accordance with the selected obstacle avoidance algorithm.

2. The method of claim 1 wherein identifying an obstacle in dependence upon the future position further comprises retrieving obstacle data from a database in dependence upon the future position.

3. The method of claim 1 wherein identifying an obstacle in dependence upon the future position further comprises:

depicting an anticipated flight of the UAV with 3D computer graphics in dependence upon the future position; and

identifying an obstacle in dependence upon the depiction of the anticipated flight.

4. The method of claim 1 wherein piloting the UAV in accordance with the selected obstacle avoidance algorithm further comprises:

identifying an intermediate waypoint;

flying past the intermediate waypoint;

identifying a second intermediate waypoint on an originally anticipated course;

flying past the second intermediate waypoint;

calculating a new heading to an original destination waypoint; and

piloting on the new heading in accordance with a navigational algorithm.

5. The method of claim 1 wherein piloting the UAV in accordance with the selected obstacle avoidance algorithm further comprises:

identifying an intermediate waypoint;

flying past the intermediate waypoint;

calculating a new heading to an original destination waypoint; and

piloting on the new heading in accordance with a navigational algorithm.

6. The method of claim 1 wherein piloting the UAV in accordance with the selected obstacle avoidance algorithm further comprises:

determining an altitude greater than the height of the identified obstacle; and

piloting the UAV at the altitude.

7. A system for navigating a UAV, the system comprising:

means for piloting the UAV, under control of a navigation computer, in accordance with a navigation algorithm;

means for reading from a GPS receiver a sequence of GPS data;

means for anticipating a future position of the UAV in dependence upon the sequence of GPS data;

means for identifying an obstacle in dependence upon the future position;

means for selecting an obstacle avoidance algorithm; and

means for piloting the UAV in accordance with the selected obstacle avoidance algorithm.

8. The system of claim 7 wherein means for identifying an obstacle in dependence upon the future position further comprises means for retrieving obstacle data from a database in dependence upon the future position.

9. The system of claim 7 wherein means for identifying an obstacle in dependence upon the future position further comprises:

means for depicting an anticipated flight of the UAV with 3D computer graphics in dependence upon the future position; and

means for identifying an obstacle in dependence upon the depiction of the anticipated flight.

10. The system of claim 7 wherein means for piloting the UAV in accordance with the selected obstacle avoidance algorithm further comprises:

means for identifying an intermediate waypoint;

means for flying past the intermediate waypoint;

means for identifying a second intermediate waypoint on an originally anticipated course;

means for flying past the second intermediate waypoint;

means for calculating a new heading to an original destination waypoint; and

means for piloting on the new heading in accordance with a navigational algorithm.

11. The system of claim 7 wherein means for piloting the UAV in accordance with the selected obstacle avoidance algorithm further comprises:

means for identifying an intermediate waypoint;

means for flying past the intermediate waypoint;

means for calculating a new heading to an original destination waypoint; and

means for piloting on the new heading in accordance with a navigational algorithm.

12. The system of claim 7 wherein means for piloting the UAV in accordance with the selected obstacle avoidance algorithm further comprises:

means for determining an altitude greater than the height of the identified obstacle; and

means for piloting the UAV at the altitude.

13. A computer program product for navigating a UAV, the computer program product comprising:

a recording medium;

means, recorded on the recording medium, for piloting the UAV, under control of a navigation computer, in accordance with a navigation algorithm;

means, recorded on the recording medium, for reading from a GPS receiver a sequence of GPS data;

means, recorded on the recording medium, for anticipating a future position of the UAV in dependence upon the sequence of GPS data;

means, recorded on the recording medium, for identifying an obstacle in dependence upon the future position;

means, recorded on the recording medium, for selecting an obstacle avoidance algorithm; and

means, recorded on the recording medium, for piloting the UAV in accordance with the selected obstacle avoidance algorithm.

14. The computer program product of claim 13 wherein means, recorded on the recording medium, for identifying an obstacle in dependence upon the future position further comprises means, recorded on the recording medium, for retrieving obstacle data from a database in dependence upon the future position.

15. The computer program product of claim 13 wherein means, recorded on the recording medium, for identifying an obstacle in dependence upon the future position further comprises:

means, recorded on the recording medium, for depicting an anticipated flight of the UAV with 3D computer graphics in dependence upon the future position; and

means, recorded on the recording medium, for identifying an obstacle in dependence upon the depiction of the anticipated flight.

16. The computer program product of claim 13 wherein means, recorded on the recording medium, for piloting the UAV in accordance with the selected obstacle avoidance algorithm further comprises:

means, recorded on the recording medium, for identifying an intermediate waypoint;

means, recorded on the recording medium, for flying past the intermediate waypoint;

means, recorded on the recording medium, for identifying a second intermediate waypoint on an originally anticipated course;

means, recorded on the recording medium, for flying past the second intermediate waypoint;

means, recorded on the recording medium, for calculating a new heading to an original destination waypoint; and

means, recorded on the recording medium, for piloting on the new heading in accordance with a navigational algorithm.

17. The computer program product of claim 13 wherein means, recorded on the recording medium, for piloting the UAV in accordance with the selected obstacle avoidance algorithm further comprises:

means, recorded on the recording medium, for identifying an intermediate waypoint;

means, recorded on the recording medium, for flying past the intermediate waypoint;

means, recorded on the recording medium, for calculating a new heading to an original destination waypoint; and

means, recorded on the recording medium, for piloting on the new heading in accordance with a navigational algorithm.

18. The computer program product of claim 13 wherein means, recorded on the recording medium, for piloting the UAV in accordance with the selected obstacle avoidance algorithm further comprises:

means, recorded on the recording medium, for determining an altitude greater than the height of the identified obstacle; and

means, recorded on the recording medium, for piloting the UAV at the altitude.