Command and control of autonomous surface vehicle

• US 8,150,621 B1
• Filed: 04/07/2009
• Issued: 04/03/2012
• Est. Priority Date: 04/07/2009
• Status: Expired due to Fees

• Current Assignee: United States Department of the Navy, United States Secretary of the Navy
• Original Assignee: The United States of America As Represented By The Secretary of Agriculture
• Inventors: Phillips, Craig A., Hanger, David B.
• Primary Examiner(s): EL CHANTI, HUSSEIN A
• Application Number:
  US12/386,181
• Time in Patent Office: 1,092 Days
• Field of Search: 701 1- 2, 701209-211
• US Class Current: 701/411
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles

Abstract

An operating system is provided for controlling an unmanned vehicle. The system includes a stratified plurality of instruction layers, a behavior axiom block and a set of operation parameters. The instruction layers are substantially arranged in descending priority order. Each layer provides an information signal to either an adjacent descending layer or an operation device on board the unmanned vehicle. The behavior axiom block provides an independent protocol signal to a first instruction layer in said stratified plurality. The operation parameters provide an environmental condition that neighbors the unmanned vehicle to a second instruction layer. Preferably, the behavior axiom block includes prioritization adjustment to an instruction layer for overriding the information signal from an adjacently ascendant layer, such as by an interrupt signal.

Claims

1. An unmanned vehicle operating a control process, said process comprising:

a stratified plurality of instruction layers substantially arranged in descending priority order, said plurality further including;

a commander intent interpretation layer issuing a strategic constraint,

a mission design layer issuing a boundary horizon;

an environmental assessment layer providing instrumentation information,

a route planning layer that issues a navigation parameter,

a navigation layer that issues a heading direction for the unmanned vehicle, and

a control layer that issues at least one of a steering command and a throttle command for the unmanned vehicle;

a behavior axiom block for providing an independent protocol signal to an instruction layer in said stratified plurality; and

a set of operation parameters for providing an environmental condition neighboring the unmanned vehicle to said environment assessment layer as said instrumentation information.

2. The vehicle according to claim 1, wherein:

said interpretation layer provides said strategic constraint to said mission design layer and said environmental assessment layer,

said mission design layer provides said boundary horizon to said route planning layer,

said environmental assessment layer provides said instrumentation information to said route planning layer,

said route planning layer provides said navigation parameter to said navigation layer,

said navigation layer provides said heading direction to said control layer, and

said control layer provides said steering command to a steer controller and said throttle command to an engine controller.

3. The vehicle according to claim 1, wherein said behavior axiom block includes prioritization adjustment to said instruction layer for overriding said information signal from an adjacently ascendant instruction layer.

4. The vehicle according to claim 1, wherein said boundary horizon from said mission design layer includes:

a path along which the unmanned vehicle travels;

a waypoint at a forward edge of said boundary horizon; and

an instant directional heading corresponding to said waypoint.

5. The vehicle according to claim 1, wherein said order corresponds to substantially decreasing time interval for updating said information signal from said each layer and said adjacent descending layer.

6. The vehicle according to claim 1, wherein said behavior axiom block includes prioritization adjustment to a third instruction layer for overriding said information signal from a fourth instruction layer adjacently ascendant to said third instruction layer.

7. The vehicle according to claim 1, wherein said behavior axiom block includes a safety protocol directive.

8. The vehicle according to claim 1, wherein said protocol signal includes an interrupt signal.

9. The vehicle according to claim 1, wherein at least one of said instruction layers includes an algorithm for collision avoidance.

10. The system according to claim 9, wherein said algorithm includes an instruction to adjust a heading of the unmanned vehicle to circumvent said obstruction location.

11. The system according to claim 9, wherein said algorithm maintains an established distance from said obstacle.

12. The system according to claim 1, wherein said environmental condition further comprises at least one of local time, inertial reference, global positioning system signal, speed, acceleration, relative bearing, goal position, and obstruction location.