Method and system for the directed control of robotic assets
First Claim
1. A method for controlling robotic assets comprising the steps of:
- providing a computer server;
providing a database, stored on the computer server, of previously collected features collected by a robotic asset;
providing a database, stored on the computer server, containing traversable trajectories defining a road network;
using a network of features, in real time, to localize a vehicle;
sensing features of a terrain or an environment by the vehicle where features are defined as any physical attribute, that can be sensed with onboard sensors;
creating one or more trajectories collected by one or more assets into a single trajectory that is followed by the vehicle;
using a vehicle navigation system to control the vehicle'"'"'s movement based on the created trajectory;
generating an interconnected graph, where each segment of the graph can have a different frame and where each segment is connected to other segments by matching features that are sensed by the vehicles in the intersections;
searching through the generated graph to compute the best route;
producing a set of concatenated edges from the generated graph that defines the best route or optimal trajectory;
storing features collected by multiple assets in the data base; and
using vehicles that are in a GPS-denied area, or in an areas where GPS does not provide sufficient accuracy for driving.
4 Assignments
0 Petitions
Accused Products
Abstract
Static multi-registration performs a delayed convoy mission from a recorded path. The data recorded for delayed convoy includes both positions traversed by the vehicle and the obstacles sensed as it drove along the path and generates a new path file in this format that is used by the vehicle to follow the desired route. The data is processed before it is passed to the vehicle to be followed. Paths are processed to determine where they cross each other. These intersection points and the path data are used to create an interconnected graph of path segments. A multi-registration planner uses that information on the length and directionality of the path segments to compute the best route between two intersections. The route generated by the planner guides the merging of position and obstacle data from several recorded paths into a single record used by the vehicle to follow the desired route.
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Citations
14 Claims
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1. A method for controlling robotic assets comprising the steps of:
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providing a computer server; providing a database, stored on the computer server, of previously collected features collected by a robotic asset; providing a database, stored on the computer server, containing traversable trajectories defining a road network; using a network of features, in real time, to localize a vehicle; sensing features of a terrain or an environment by the vehicle where features are defined as any physical attribute, that can be sensed with onboard sensors; creating one or more trajectories collected by one or more assets into a single trajectory that is followed by the vehicle; using a vehicle navigation system to control the vehicle'"'"'s movement based on the created trajectory; generating an interconnected graph, where each segment of the graph can have a different frame and where each segment is connected to other segments by matching features that are sensed by the vehicles in the intersections; searching through the generated graph to compute the best route; producing a set of concatenated edges from the generated graph that defines the best route or optimal trajectory; storing features collected by multiple assets in the data base; and using vehicles that are in a GPS-denied area, or in an areas where GPS does not provide sufficient accuracy for driving. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification