Systems and methods for obstacle avoidance
First Claim
Patent Images
1. A robotically controlled vehicle comprising:
- a robotic control unit comprising a control application;
a sensor for detecting object data representing detected obstacles or objects located outside of the robotically controlled vehicle and for transmitting the object data to the robotic control unit, the object data being three-dimensional data;
wherein the robotic control unit is capable of generating a map based on the object data, the map comprising map data, the map data including position data of detected obstacles or objects, the map data being two-dimensional data; and
wherein the control application is capable of determining vehicle actions based at least in part on the map data, and the control application is capable of outputting a control command representing the vehicle actions to a vehicle control unit.
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Abstract
Embodiments of the invention provide systems and methods for obstacle avoidance. In some embodiments, a robotically controlled vehicle capable of operating in one or more modes may be provided. Examples of such modes include teleoperation, waypoint navigation, follow, and manual mode. The vehicle may include an obstacle detection and avoidance system capable of being implemented with one or more of the vehicle modes. A control system may be provided to operate and control the vehicle in the one or more modes. The control system may include a robotic control unit and a vehicle control unit.
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Citations
16 Claims
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1. A robotically controlled vehicle comprising:
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a robotic control unit comprising a control application; a sensor for detecting object data representing detected obstacles or objects located outside of the robotically controlled vehicle and for transmitting the object data to the robotic control unit, the object data being three-dimensional data; wherein the robotic control unit is capable of generating a map based on the object data, the map comprising map data, the map data including position data of detected obstacles or objects, the map data being two-dimensional data; and wherein the control application is capable of determining vehicle actions based at least in part on the map data, and the control application is capable of outputting a control command representing the vehicle actions to a vehicle control unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A robotically controlled vehicle comprising:
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a robotic control unit comprising a control application; a sensor for detecting object data representing detected obstacles or objects located outside of the robotically controlled vehicle and for transmitting the object data to the robotic control unit; wherein the robotic control unit is capable of generating a map based on the object data, the map comprising map data, the map data including position data of detected obstacles or objects; wherein the control application is capable of determining vehicle actions based at least in part on the map data, and the control application is capable of outputting a control command representing the vehicle actions to a vehicle control unit; and wherein the sensor is a laser scanner assembly adapted to connect to a robotic vehicle, the laser scanner assembly comprising; a laser scanner for transmitting a laser beam to detect the presence of an obstacle; a scanner mechanism for manipulating the position of the laser scanner; and a guard for protecting the laser scanner from damage and for allowing the laser beam to detect the presence of an obstacle, the guard comprising; a base for connecting the laser scanner assembly to the robotic vehicle; at least two support elements connected to the base; and a plurality of support ribs connected to the at least two support elements. - View Dependent Claims (10, 11)
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12. A robotic vehicle comprising:
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a forward sensor assembly for executing a front range scan to obtain forward data representing obstacles or objects at least in front of the vehicle; a rear sensor assembly for executing a rear range scan to obtain rear data representing obstacles or objects at least behind the vehicle; and a robotic control unit for receiving the forward and rear data and generating an obstacle map based on the forward and rear data, the robotic control unit comprising; the obstacle map; a range guard application for detecting interruptions in the forward and rear data and substituting, based at least on the interruptions, data in the forward and rear data indicating the presence of obstacles in the forward and rear scan range; and a control application for determining a trajectory based at least in part on the obstacle map and outputting control commands to a vehicle control unit based at least in part on the trajectory. - View Dependent Claims (13, 14, 15, 16)
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Specification