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Multi-part navigation process by an unmanned aerial vehicle for navigation

  • US 9,823,654 B2
  • Filed: 03/28/2016
  • Issued: 11/21/2017
  • Est. Priority Date: 12/28/2012
  • Status: Active Grant
First Claim
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1. An unmanned aerial vehicle (UAV) comprising:

  • at least one distance-sensing system comprising at least one of a light detection and ranging (LiDAR) system or a laser detection and ranging (LaDAR) system;

    a navigation module comprising program instructions stored in data storage and executable by at least one processor to provide both a first and a second navigation process to generate flight-control signals for a UAV, wherein the first navigation process generates first flight-control signals based on a predetermined location of a target, and wherein the second navigation process generates second flight-control signals based on a real-time localization process that locates the target in real-time; and

    a control system comprising program instructions stored in data storage and executable by at least one processor to;

    use the at least one distance-sensing system to generate environmental data indicative of distance to each of one or more objects in an environment of the UAV;

    determine an approximate target location associated with the target;

    use the first navigation process to navigate the UAV from a remote location to the approximate target location of the target;

    make a determination that the UAV is located at the approximate target location of the target;

    in response to the determination that the UAV is located at the approximate target location of the target, switch to use of the second navigation process to locate, and navigate the UAV to, a position hovering above the target;

    use the environmental data to detect and avoid obstacles while hovering over the target; and

    determine that the UAV is positioned above the target and responsively operate a winch system to lower a payload from the UAV to the target.

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