Autonomous navigation system and method
First Claim
1. A method for autonomously navigating a robot, comprising:
- repeating on each iteration through an event timing loop, the acts of;
defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot;
detecting a range to obstacles around the robot;
testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon;
adjusting a rotational velocity comprising;
modifying the rotational velocity if the event horizon intrusion occurs based on a proportion of a current rotational velocity reduced by a proportion of the range to a nearest obstacle within the event horizon; and
adjusting a translational velocity comprising;
modifying the translational velocity if the event horizon intrusion occurs based on a proportion of the range to the nearest obstacle within the event horizon; and
setting the translational velocity if the event horizon intrusion does not occur to a ratio of a predetermined speed factor relative to a maximum allowable speed.
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Accused Products
Abstract
A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot'"'"'s current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.
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Citations
24 Claims
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1. A method for autonomously navigating a robot, comprising:
repeating on each iteration through an event timing loop, the acts of; defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot; detecting a range to obstacles around the robot; testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon; adjusting a rotational velocity comprising; modifying the rotational velocity if the event horizon intrusion occurs based on a proportion of a current rotational velocity reduced by a proportion of the range to a nearest obstacle within the event horizon; and adjusting a translational velocity comprising; modifying the translational velocity if the event horizon intrusion occurs based on a proportion of the range to the nearest obstacle within the event horizon; and setting the translational velocity if the event horizon intrusion does not occur to a ratio of a predetermined speed factor relative to a maximum allowable speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer readable medium having computer instructions thereon, which when executed on a system controller provide a method for autonomously navigating a robot, the computer instructions comprising instructions for:
repeating on each iteration through an event timing loop, the acts of; defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot; detecting a range to obstacles around the robot; testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon; adjusting a rotational velocity comprising; modifying the rotational velocity if the event horizon intrusion occurs based on a proportion of a current rotational velocity reduced by a proportion of the range to a nearest obstacle within the event horizon; and adjusting a translational velocity comprising; modifying the translational velocity if the event horizon intrusion occurs based on a proportion of the range to the nearest obstacle within the event horizon; and setting the translational velocity if the event horizon intrusion does not occur to a ratio of a predetermined speed factor relative to a maximum allowable speed. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A robot platform, comprising:
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at least one perceptor configured for perceiving environmental variables of interest; at least one locomotor configured for providing mobility to the robot platform; a system controller configured for executing computer instructions configured for autonomously navigating a robot, the computer instructions comprising instructions for; repeating on each iteration through an event timing loop, the acts of; defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot; detecting a range to obstacles around the robot; testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon; adjusting a rotational velocity comprising; modifying the rotational velocity if the event horizon intrusion occurs based on a proportion of a current rotational velocity reduced by a proportion of the range to a nearest obstacle within the event horizon; and adjusting a translational velocity comprising; modifying the translational velocity if the event horizon intrusion occurs based on a proportion of the range to the nearest obstacle within the event horizon; and setting the translational velocity if the event horizon intrusion does not occur to a ratio of a predetermined speed factor relative to a maximum allowable speed. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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Specification