Unmanned ground vehicle stability control

• US 9,475,193 B2
• Filed: 02/09/2015
• Issued: 10/25/2016
• Est. Priority Date: 02/09/2015
• Status: Active Grant

• Current Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Original Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Inventors: Bosscher, Paul M., Summer, Matthew D.
• Primary Examiner(s): Kiswanto, Nicholas
• Application Number:
  US14/617,036
• Publication Number:
  US 20160229057A1
• Time in Patent Office: 624 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

Systems (100) and methods (600) for providing a robotic vehicle (100) with tip over prevention. The methods involve: determining a stability footprint, attitude and orientation of the robotic vehicle; computing a center of gravity of the robotic vehicle; projecting the center of gravity onto the stability footprint; determining whether the center of gravity is within an acceptable region of the stability footprint; calculating a new desired configuration for a movable component of the robotic vehicle when a determination is made that the center of gravity is within the acceptable region of the stability footprint; and commanding the movable component (106) to the new desired configuration.

Claims

1. A method for providing a robotic vehicle with tip over prevention, comprising:

determining, by an electronic circuit, a stability footprint, attitude and orientation of the robotic vehicle, where the electronic circuit is disposed on or in the robotic vehicle which is traveling over sloped or inclined terrain;

computing, by the electronic circuit, a center of gravity of the robotic vehicle;

projecting, by the electronic circuit, the center of gravity onto the stability footprint;

determining, by the electronic circuit, whether the center of gravity is within an acceptable region of the stability footprint;

calculating a new desired configuration for a movable component mounted on a body of the robotic vehicle when a determination is made that the center of gravity is not within the acceptable region of the stability footprint; and

dynamically selectively changing the center of gravity of the robotic vehicle by commanding the movable component to the new desired configuration so as to shift the robotic vehicle'"'"'s weight for preventing vehicle tip over while the robotic vehicle travels across a sloped or inclined area;

wherein a driving speed of the robotic vehicle is limited for a period of time that is sufficient for the movable component to move to the new desired configuration.

2. The method according to claim 1, wherein the stability footprint is determined based on chassis-terrain contact points.

3. The method according to claim 1, further comprising measuring, by the electronic circuit, a configuration of the movable component of the robotic component.

4. The method according to claim 3, further comprising determining if a configuration of the movable component is optimal for stability when the center of gravity is within the acceptable region of the stability footprint.

5. The method according to claim 4, wherein the new desired configuration is calculated when a determination is made that the configuration of the movable component is not optimal for stability.

6. The method according to claim 1, further comprising constraining movement of the movable component in accordance with at least one constraint parameter.

7. The method according to claim 6, wherein the constraint parameter is selected by an operator of the robotic vehicle or automatically by the robotic vehicle based on a multi-dimensional model of a surrounding environment.

8. The method according to claim 1, wherein the movable component is a manipulator arm and the robotic vehicle is an unmanned ground vehicle.

9. The method according to claim 1, wherein the center of gravity is computed in a first coordinate system with respect to a chassis of the robotic vehicle, and translated from the first coordinate system to a second coordinate system.

10. A method for providing a robotic vehicle with tip over prevention, comprising:

determining, by an electronic circuit, a stability footprint, attitude and orientation of the robotic vehicle, where the electronic circuit is disposed on or in the robotic vehicle which is traveling over sloped or inclined terrain;

computing, by the electronic circuit, a center of gravity of the robotic vehicle;

projecting, by the electronic circuit, the center of gravity onto the stability footprint;

determining, by the electronic circuit, whether the center of gravity is within an acceptable region of the stability footprint;

calculating a new desired configuration for a movable component mounted on a body of the robotic vehicle when a determination is made that the center of gravity is not within the acceptable region of the stability footprint;

dynamically selectively changing the center of gravity of the robotic vehicle by commanding the movable component to the new desired configuration so as to shift the robotic vehicle'"'"'s weight for preventing vehicle tip over while the robotic vehicle travels across a sloped or inclined area; and

limiting a driving speed of the robotic vehicle prior to commanding the movable component to the new desired configuration and for a period of time that is sufficient for the movable component to move to the new desired configuration.

11. A robotic vehicle, comprising:

an electronic circuit disposed on or in the robotic vehicle which performs operations when the robotic vehicle is traveling over a sloped or inclined area to;

determine a stability footprint, attitude and orientation of the robotic vehicle;

compute a center of gravity of the robotic vehicle;

project the center of gravity onto the stability footprint;

determine whether the center of gravity is within an acceptable region of the stability footprint;

calculate a new desired configuration for a movable component of the robotic vehicle when a determination is made that the center of gravity is not within the acceptable region of the stability footprint; and

dynamically selectively change the center of gravity of the robotic vehicle by commanding the movable component to the new desired configuration so as to shift the robotic vehicle'"'"'s weight for preventing vehicle tip over while the robotic vehicle travels across a sloped or inclined area;

wherein a driving speed of the robotic vehicle is limited for a period of time that is sufficient for the movable component to move to the new desired configuration.

12. The robotic vehicle according to claim 11, wherein the stability footprint is determined based on chassis-terrain contact points.

13. The robotic vehicle according to claim 11, wherein the electronic circuit further performs operations to measure a configuration of the movable component of the robotic component.

14. The robotic vehicle according to claim 13, wherein the electronic circuit further performs operations to determine if a configuration of the movable component is optimal for stability when the center of gravity is within the acceptable region of the stability footprint.

15. The robotic vehicle according to claim 14, wherein the new desired configuration is calculated when a determination is made that the configuration of the movable component is not optimal for stability.

16. The robotic vehicle according to claim 11, wherein the electronic circuit further performs operations to constrain movement of the movable component in accordance with at least one constraint parameter.

17. The robotic vehicle according to claim 16, wherein the constraint parameter is selected by an operator of the robotic vehicle.

18. The robotic vehicle according to claim 16, wherein the constraint parameter is selected automatically by the robotic vehicle based on a multi-dimensional model of a surrounding environment.

19. The robotic vehicle according to claim 11, wherein the movable component is a manipulator arm and the robotic vehicle is an unmanned ground vehicle.

20. The robotic vehicle according to claim 11, wherein the center of gravity is computed in a first coordinate system with respect to a chassis of the robotic vehicle, and translated from the first coordinate system to a second coordinate system.