System and method for providing perceived first-order control of an unmanned vehicle

• US 8,577,535 B2
• Filed: 03/31/2010
• Issued: 11/05/2013
• Est. Priority Date: 03/31/2010
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Cummings, Mary Louise, Pitman, David Joseph, Quimby, Paul Westlake
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Bendidi, Rachid
• Application Number:
  US12/751,629
• Publication Number:
  US 20110246015A1
• Time in Patent Office: 1,315 Days
• Field of Search: 701/2, 701/13, 701/24, 701/33, 701/36, 244/76.R, 244/179, 244/180, 244/181
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G06F 3/04815 Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object
• CPC Class Codes: G06F 3/04847 Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
• CPC Class Codes: G06F 3/04883 for inputting data by handwriting, e.g. gesture or text

Abstract

A system for providing perceived first order control of an unmanned vehicle contains a memory and a processor configured by the memory to perform the steps of: receiving instructions for updating x-axis location, y-axis location, z-axis location, and/or heading of the unmanned vehicle; converting received instructions for updating x-axis location, y-axis location, z-axis location, and/or heading of the unmanned vehicle into a set of relative distance coordinates from a current location of the unmanned vehicle; and adjusting the set of relative distance coordinates by a gain control, to minimize coordinate change, wherein gain control provides a rate change in the x-axis location, y-axis location, z-axis location, and/or heading, resulting in a new set of coordinates. A screen displays a location dot representing current location of the unmanned vehicle and an outer limit circle surrounding the location dot representing an outer boundary for movement of the unmanned vehicle.

Claims

1. A system for providing perceived first order control of an unmanned vehicle, comprising:

a memory; and

a processor configured by the memory to perform the steps of;

receiving instructions comprising a first order command, velocity, updating an x-axis location, a y-axis location, a z-axis location, and/or a heading of the unmanned vehicle;

converting the received instructions into a set of relative distance coordinates from a current location of the unmanned vehicle; and

adjusting the set of relative distance coordinates by a gain control, to minimize coordinate change, wherein the gain control provides a rate change in the x-axis location, y-axis location, z-axis location, and/or heading, resulting in a new set of coordinates.

2. The system of claim 1, wherein the instructions for updating x-axis location, y-axis location, z-axis location, and/or heading of the unmanned vehicle is provided by an operator of the system tilting the system and the system interpreting the tilting as a changing in x-axis and/or y-axis location of the unmanned vehicle.

3. The system of claim 2, wherein the system further comprises an accelerometer for determining positional changes in the system.

4. The system of claim 1, wherein the instructions for updating the x-axis location, y-axis location, z-axis location, and/or heading of the unmanned vehicle is provided by an operator of the system touching a screen of the system and the system interpreting the touching as a changing in the x-axis and/or y-axis location of the unmanned vehicle.

5. The system of claim 1, wherein the processor is further configured by the memory to perform the step of applying a constraint filter to the new set of coordinates prior to transmitting the new set of coordinates, wherein applying a constraint filter limits a magnitude of user commands received by the system when receiving updating instruction to prevent the unmanned vehicle from moving into a location that is predefined as prohibited, application of the constraint filter to the new coordinates resulting in an absolute set of coordinates.

6. The system of claim 1, further comprising transmitting the new set of coordinates to the unmanned vehicle.

7. The system of claim 1, wherein the processor is further configured by the memory to perform the step of applying an obstacle collision filter to the new set of coordinates resulting in a bound new set of coordinates, wherein the obstacle collision filter evaluates whether the new set of coordinates exist within a space accessible to the unmanned vehicle.

8. The system of claim 1, wherein the processor is further configured by the memory to perform the step of determining whether the new set of coordinates are accessible by the unmanned vehicle.

9. The system of claim 8, wherein if the new set of coordinates are not accessible by the unmanned vehicle, the processor is further configured by the memory to perform the step of determining a new set of accessible coordinates that are closest to the new set of coordinates.

10. The system of claim 5, wherein the processor is further configured by the memory to perform the step of applying an obstacle collision filter to the absolute set of coordinates resulting in a bound absolute set of coordinates, wherein the obstacle collision filter evaluates whether the absolute set of coordinates exist within a space accessible to the unmanned vehicle.

11. The system of claim 10, wherein the processor is further configured by the memory to perform the step of determining whether the bound absolute set of coordinates are accessible by the unmanned vehicle.

12. The system of claim 5, wherein the processor is further configured by the memory to perform the step of determining whether the absolute set of coordinates are accessible by the unmanned vehicle.

13. The system of claim 7, wherein the processor is further configured by the memory to perform the step of determining whether the bound new set of coordinates are accessible by the unmanned vehicle.

14. The system of claim 1, wherein the system further comprises a screen displaying a location dot representing current location of the unmanned vehicle and an outer limit circle surrounding the location dot representing an outer boundary for movement of the unmanned vehicle, and wherein the instructions for updating the x-axis location, y-axis location, z-axis location, and/or heading of the unmanned vehicle result in movement of the location dot within the outer limit circle surrounding the location dot.

15. A method for providing perceived first order control of an unmanned vehicle, comprising the steps of:

receiving instructions comprising a first order command updating an x-axis location, a y-axis location, a z-axis location, and/or a heading of the unmanned vehicle;

converting the received instructions by processor into a set of relative distance coordinates from a current location of the unmanned vehicle; and

adjusting the set of relative distance coordinates by a gain control, to minimize coordinate change, wherein the gain control provides a rate change in the x-axis location, y-axis location, z-axis location, and/or heading, resulting in a new set of coordinates.

16. The method of claim 15, further comprising the step of applying a constraint filter to the new set of coordinates prior to transmitting the new set of coordinates, wherein applying a constraint filter limits a magnitude of user commands received when receiving updating instruction to prevent the unmanned vehicle from moving into a location that is predefined as prohibited, application of the constraint filter to the new coordinates resulting in an absolute set of coordinates.

17. The method of claim 15, further comprising the step of applying an obstacle collision filter to the new set of coordinates resulting in a bound new set of coordinates, wherein the obstacle collision filter evaluates whether the new set of coordinates exist within a space accessible to the unmanned vehicle.

18. The method of claim 15, further comprising the step of determining whether the new set of coordinates are accessible by the unmanned vehicle.