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Variable reference frames in unmanned vehicles

  • US 9,891,630 B2
  • Filed: 10/15/2015
  • Issued: 02/13/2018
  • Est. Priority Date: 10/24/2014
  • Status: Active Grant
First Claim
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1. An unmanned vehicle comprising:

  • a chassis;

    a propulsion system configured to move the chassis;

    one or more sensors configured to sense features around the chassis;

    a memory storing a global reference frame associated with an environment within which the chassis is to move;

    a communication interface; and

    a processor configured to;

    receive, using the communication interface, a command to move to a given coordinate in the global reference frame;

    control the propulsion system to move the chassis to the given coordinate in the global reference frame based on the command;

    when the chassis is at the given coordinate, determine, using the one or more sensors, that a given feature is detected; and

    , when the given feature is detected;

    automatically cease controlling the propulsion system according to the global reference frame; and

    ,automatically control the propulsion system to move the chassis according to a local reference frame defined with reference to a dimension associated with the given feature.

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