Advanced behavior engine
First Claim
1. A method of generating a command for a remote vehicle controller of a remote vehicle by taking in goals and constraints compiled from behavior inputs, and controlling resources by producing low-level actuator commands that realize goals expressed by the behaviors, the method comprising:
- executing a command by a processor based on a kinodynamic fixed depth motion planning (KFDMP) algorithm to plan paths with longer time horizons and to use incremental feedback from evaluators to select a best feasible course of action;
electronically providing the best feasible course of action as servo commands to a drive system or a manipulation system of the remote vehicle controller, andcommanding one or more actuators of the remote vehicle by the remote vehicle controller based on the servo commands;
wherein the best feasible course of action comprises goal-achieving actions within a fixed time horizon of several seconds from the current time each time a course of action is selected.
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Abstract
A method of generating a command for a remote vehicle controller by taking in goals and constraints compiled from behavior inputs and action models, and controlling resources by producing low-level actuator commands that realize goals expressed by the behaviors. The method comprises: executing a command based on a kinodynamic fixed depth motion planning (KFDMP) algorithm to plan paths with longer time horizons and to use incremental feedback from evaluators to select a best feasible course of action; and feeding the selected best feasible course of action as servo commands to a drive system or a manipulation system of the remote vehicle controller. The selected best feasible course of action comprises goal-achieving actions within a fixed time horizon of several seconds from the current time each time a course of action is selected.
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Citations
17 Claims
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1. A method of generating a command for a remote vehicle controller of a remote vehicle by taking in goals and constraints compiled from behavior inputs, and controlling resources by producing low-level actuator commands that realize goals expressed by the behaviors, the method comprising:
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executing a command by a processor based on a kinodynamic fixed depth motion planning (KFDMP) algorithm to plan paths with longer time horizons and to use incremental feedback from evaluators to select a best feasible course of action; electronically providing the best feasible course of action as servo commands to a drive system or a manipulation system of the remote vehicle controller, and commanding one or more actuators of the remote vehicle by the remote vehicle controller based on the servo commands; wherein the best feasible course of action comprises goal-achieving actions within a fixed time horizon of several seconds from the current time each time a course of action is selected. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A robotics system comprising:
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a behavior tree comprising a tree of behaviors for controlling remote vehicle resources, the behavior tree generating behavior goals; one or more action models that generate remote vehicle constraints; multiple remote vehicle resources; a control arbiter for each remote vehicle resource, the control arbiter controlling its associated remote vehicle resource; a remote vehicle controller in communication with the control arbiters; and one or more resource controllers in communication with the remote vehicle controller, the resource controllers receiving the behavior goals and the remote vehicle constraints and generating an overall command which is sent to the remote vehicle controller for execution on the remote vehicle resources.
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Specification