Autonomous vehicle navigation system and method

• US 9,880,006 B2
• Filed: 12/22/2016
• Issued: 01/30/2018
• Est. Priority Date: 03/15/2014
• Status: Active Grant

• Current Assignee: Aurora Flight Sciences Corporation (The Boeing Co.)
• Original Assignee: Aurora Flight Sciences Corporation (The Boeing Co.)
• Inventors: Paduano, James, McKenna, Terrence
• Primary Examiner(s): ANTONUCCI, ANNE MARIE
• Application Number:
  US15/388,482
• Publication Number:
  US 20170102241A1
• Time in Patent Office: 404 Days
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G01S 15/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S15/46
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/87 Combinations of sonar systems
• CPC Class Codes: G01S 15/89 for mapping or imaging
• CPC Class Codes: G01S 15/93 for anti-collision purposes
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 7/52003 Techniques for enhancing spatial resolution of targets G01S7/52046 takes precedence
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G08G 9/02 Anti-collision systems

Abstract

An autonomous vehicle is improved with a navigational system having both cameras and echolocation sensors, each including overlapping fields of view. The cameras and echolocation sensors may be part of an optical and echolocation system, respectively, that may work in conjunction with a global positioning system to determine a course for the autonomous vehicle to reach an objective while detecting and avoid obstacles along the course.

Claims

1. An autonomous aerial vehicle comprising,

a geolocation system to provide a position of the autonomous aerial vehicle within an operating environment;

an optical system coupled to the autonomous aerial vehicle to provide an optical field of view about the autonomous aerial vehicle, wherein the optical system is configured to optically identify obstacles within the optical field of view;

an acoustic system coupled to the autonomous aerial vehicle to provide an acoustic field of view about the autonomous aerial vehicle, wherein the acoustic system is configured to acoustically identify obstacles within the acoustic field of view, wherein the acoustic field of view overlaps with at least a portion of the optical field of view;

a processor to determine a geolocation navigational path for the autonomous aerial vehicle from the position to an objective location based at least in part upon signals from the geolocation system, wherein the processor is configured to determine a tactical navigational path based at least in part on the geolocation navigational path and environment data reflecting known obstacle locations within the operating environment; and

a steering mechanism to steer the autonomous aerial vehicle along the tactical navigational path in response to commands from the processor, wherein the processor is configured to instruct the steering mechanism to effectuate a dodging maneuver to deviate from the tactical navigational path upon detection of an obstacle by the acoustic system.

2. The autonomous aerial vehicle of claim 1, wherein the processor is configured to instruct the steering mechanism to return the autonomous aerial vehicle to the tactical navigational path upon completion of the dodging maneuver.

3. The autonomous aerial vehicle of claim 2, wherein the processor is configured to instruct the steering mechanism to effectuate the dodging maneuver until the obstacle is no longer detected by the acoustic system.

4. The autonomous aerial vehicle of claim 1, wherein the dodging maneuver is a predetermined maneuver selected based at least in part on a characteristic or a location of the obstacle detected by the acoustic system.

5. The autonomous aerial vehicle of claim 1, wherein the geolocation system employs a global positioning system (GPS) transceiver to dynamically determine the position of the autonomous aerial vehicle.

6. The autonomous aerial vehicle of claim 1, wherein the optical system employs a plurality of cameras with a predetermined overlap in fields of view, wherein the optical system is configured to aggregate images from each of said plurality of cameras to provide at least one hundred and eighty degrees of optical field of view.

7. The autonomous aerial vehicle of claim 1, wherein the acoustic system employs an array of echolocation sensors.

8. The autonomous aerial vehicle of claim 2, wherein the position is an estimated position of the autonomous aerial vehicle that is based at least in part on a previous position of the autonomous aerial vehicle and movement information of the autonomous aerial vehicle.

9. The autonomous aerial vehicle of claim 1, wherein the acoustic system is configured to acoustically identify obstacles that are positioned in the autonomous aerial vehicle'"'"'s line of travel.

10. The autonomous aerial vehicle of claim 1, wherein the optical system is configured to optically identify obstacles using three-dimensional reconstruction techniques.

11. The autonomous aerial vehicle of claim 1, wherein the processor is configured to determine the tactical navigational path based at least in part on the geolocation navigational path, the environment data reflecting known obstacle locations, and information from the optical system.

12. The autonomous aerial vehicle of claim 11, wherein information from the optical system identifies an obstacle within the optical field of view.

13. The autonomous aerial vehicle of claim 12, wherein the obstacle within the optical field of view is a building or a tree.

14. The autonomous aerial vehicle of claim 12, wherein the geolocation navigational path, the tactical navigational path, and the dodging maneuver are hierarchically arranged such that (1) the tactical navigational path preempts the geolocation navigational path, and (2) the dodging maneuver preempts both the geolocation navigational path and the tactical navigational path.

15. The autonomous aerial vehicle of claim 1, wherein the environment data includes positional information relating to natural or manmade features within the operating environment.

16. The autonomous aerial vehicle of claim 1, wherein the optical system and the acoustic system are contained in a modular housing that is detachable from the autonomous aerial vehicle.

17. The autonomous aerial vehicle of claim 1, wherein the steering mechanism includes one or more rudders, elevators, flaps, ailerons, spoilers, or air brakes.

18. The autonomous aerial vehicle of claim 1, wherein the autonomous aerial vehicle is a vertical-takeoff-and-landing (VTOL) aircraft and the steering mechanism includes a plurality of rotors.

19. The autonomous aerial vehicle of claim 1, wherein the autonomous aerial vehicle is configured with a manually piloted operation, wherein the dodging maneuver from the processor preempts commands by a user from a user interface during the manually piloted operation.

20. The autonomous aerial vehicle of claim 1, wherein the acoustic system is configured to acoustically identify an obstacle within the optical field of view before the optical system is able to identify the obstacle within the optical field.

21. The autonomous aerial vehicle of claim 1, wherein the optical field of view encompasses the acoustic field of view.

22. The autonomous aerial vehicle of claim 1, wherein the objective location is an observation location identified by the processor based at least in part on a mission objective and the environment data.

23. A computer program product embodied in a non-transitory computer-readable medium that, when executing on one or more computing devices, navigates an aerial vehicle from a position to an objective location by performing the steps of:

determining a position of the autonomous aerial vehicle within an operating environment based at least in part on data received from a geolocation system;

monitoring for obstacles within an optical field of view about the autonomous aerial vehicle, wherein the optical field of view is captured by an optical system coupled to the autonomous aerial vehicle;

monitoring for obstacles within an acoustic field of view about the autonomous aerial vehicle, wherein the acoustic field is captured by an acoustic system coupled to the autonomous aerial vehicle, wherein the acoustic field of view overlaps with at least a portion of the optical field of view;

determining, via a processor, a geolocation navigational path for the autonomous aerial vehicle from the position to the objective location based at least in part upon signals from the geolocation system,

determining, via the processor, a tactical navigational path based at least in part on the geolocation navigational path and environment data reflecting known obstacle locations within the operating environment;

steering the autonomous aerial vehicle via a steering mechanism along the tactical navigational path in response to commands from the processor; and

instructing the steering mechanism to effectuate a dodging maneuver to deviate from the tactical navigational path upon detection of an obstacle by the acoustic system.

24. The computer program product of claim 23, further comprising the step of instructing the steering mechanism to return the autonomous aerial vehicle to the tactical navigational path upon completion of the dodging maneuver.

25. The computer program product of claim 23, wherein the position is an estimated position of the autonomous aerial vehicle that is based at least in part on a previous position of the autonomous aerial vehicle and movement information of the autonomous aerial vehicle.

26. The computer program product of claim 23, wherein the tactical navigational path is determined based at least in part on the geolocation navigational path, the environment data reflecting known obstacle locations, and information from the optical system.

27. An autonomous vertical-takeoff-and-landing (VTOL) aerial vehicle for delivering a payload at an objective location, the autonomous VTOL aerial vehicle comprising,

a geolocation system to provide a position of the autonomous VTOL aerial vehicle within an operating environment;

an optical system coupled to the autonomous VTOL aerial vehicle to provide an optical field of view about the autonomous VTOL aerial vehicle, wherein the optical system is configured to optically identify obstacles within the optical field of view;

an acoustic system coupled to the autonomous VTOL aerial vehicle to provide an acoustic field of view about the autonomous VTOL aerial vehicle, wherein the

a processor to determine a geolocation navigational path for the autonomous VTOL aerial vehicle from the position to the objective location based at least in part on signals from the geolocation system, wherein the processor is configured to determine a tactical navigational path based at least in part on the geolocation navigational path and environment data reflecting known obstacle locations within the operating environment; and

a steering mechanism having a plurality of rotors to steer the autonomous VTOL aerial vehicle, in response to commands from the processor, along the tactical navigational path to deliver the payload at the objective location, wherein the processor is configured to instruct the steering mechanism to effectuate a dodging maneuver to deviate from the tactical navigational path upon detection of an obstacle by the acoustic system.

28. The autonomous VTOL aerial vehicle of claim 27, wherein the processor is configured to instruct the steering mechanism to return the autonomous VTOL aerial vehicle to the tactical navigational path upon completion of the dodging maneuver.

29. The autonomous VTOL aerial vehicle of claim 27, wherein the optical system employs a plurality of cameras with a predetermined overlap in fields of view, wherein the optical system is configured to aggregate images from each of said plurality of cameras to provide at least one hundred and eighty degrees of optical field of view.

30. The autonomous VTOL aerial vehicle of claim 27, wherein the acoustic system employs an array of echolocation sensors.

31. The autonomous VTOL aerial vehicle of claim 27, wherein the environment data includes positional information relating to natural or manmade features within the operating environment.