Coordinated planning with graph sharing over networks

• US 10,319,244 B2
• Filed: 09/14/2015
• Issued: 06/11/2019
• Est. Priority Date: 09/22/2014
• Status: Active Grant

• Current Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Original Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Inventors: Sane, Harshad S., Loussides, George Nicholas, Cherepinsky, Igor, Englot, Brendan J.
• Primary Examiner(s): Tissot, Adam D
• Assistant Examiner(s): Dunn, Alex C
• Application Number:
  US15/502,446
• Publication Number:
  US 20170263130A1
• Time in Patent Office: 1,366 Days
• CPC Class Codes: B64C 27/06 with single rotor
• CPC Class Codes: B64C 27/82 characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
• CPC Class Codes: B64C 29/0025 the propellers being fixed relative to the fuselage
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 45/08 optical
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/17 Helicopters flying platforms B64U10/13
• CPC Class Codes: B64U 10/20 Vertical take-off and landing [VTOL] aircraft flying platforms B64U10/13; helicopters B64U10/17
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: G08G 5/0008 with other aircraft
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/006 in accordance with predefined flight zones, e.g. to avoid prohibited zones
• CPC Class Codes: G08G 5/0078 for monitoring traffic from the aircraft radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

A method for path planning for a plurality of vehicles in a mission space includes determining, with a processor, information indicative of a first local graph of a first vehicle; receiving, with the processor over a communication link, information indicative of a second local graph from a second vehicle; assembling, with the processor, information indicative of a global graph in response to the receiving of the second local graph; wherein the global graph includes information assembled from the first local graph and the second local graph; and wherein the global graph indicates connectivity of objectives for each vehicle of the plurality of vehicles in the mission space.

Claims

1. A method for path planning for a plurality of vehicles in a mission space, comprising:

determining, with a processor on board a first vehicle, information indicative of a first local graph of the first vehicle, the first local graph including mission planning constraints of a mission space of the first vehicle;

receiving, with the processor over a communication link, information indicative of a second local graph from a second vehicle, the second local graph including mission planning constraints of a mission space of the second vehicle;

assembling, with the processor, information indicative of a global graph in response to the receiving of the second local graph; and

coordinating operation of the first vehicle and the second vehicle to perform a set of tasks;

wherein the global graph includes information assembled from the first local graph and the second local graph; and

wherein the global graph indicates connectivity of objectives for each vehicle of the plurality of vehicles in the mission space.

2. The method of claim 1, wherein the determining of the information of the first local graph comprises receiving sensor information indicative of obstacles and constraints in the mission space.

3. The method of claim 1, further comprising determining nodes and edges for each of the first and second local graph.

4. The method of claim 1, further comprising receiving the first local graph by the second vehicle and assembling the global graph in the second vehicle in response to the receiving of the first local graph.

5. The method of claim 4, further comprising receiving the first and second local graphs through direct communication links between the first and second vehicle over a communication network.

6. The method of claim 4, further comprising receiving the first and second local graphs through an indirect communication link connected to a communication beacon over a communication network.

7. The method of claim 1, further comprising re-planning the global graph as re-planned first and second local graphs are received by the first and second vehicles.

8. The method of claim 1, further comprising establishing direct communication links between the first vehicle and other vehicles as objectives in the global graph are accomplished.

9. A system for path planning for a plurality of vehicles in a mission space, comprising

a communication network;

a processor on board a first vehicle; and

memory having instructions stored thereon that, when executed by the processor, cause the system to;

determine information indicative of a first local graph of the first vehicle, the first local graph including mission planning constraints of a mission space of the first vehicle;

receive information indicative of a second local graph from a second vehicle, the second local graph including mission planning constraints of a mission space of the second vehicle;

assemble information indicative of a global graph for the mission space in response to the receiving of the second local graph; and

coordinating operation of the first vehicle and the second vehicle to perform a set of tasks;

wherein the global graph includes information from the first local graph and the second local graph; and

wherein the global graph indicates connectivity of objectives for each vehicle of the plurality of vehicles in the mission space.

10. The system of claim 9, wherein the processor is configured to receive sensor information indicative of obstacles and constraints in the mission space.

11. The system of claim 9, wherein the processor is configured to determine nodes and edges for each of the first and second local graph.

12. The system of claim 9, wherein the processor is configured to receive the first local graph by the second vehicle and assemble the global graph in the second vehicle in response to the receiving of the first local graph.

13. The system of claim 12, wherein the processor is configured to receive the first and second local graphs through direct communication links between the first and second vehicle over the communication network.

14. The system of claim 12, wherein the processor is configured to receive the first and second local graphs through an indirect communication link connected to a communication beacon over the communication network.

15. The system of claim 9, wherein the processor is configured to re-planning the global graph as re-planned first and second local graphs are received by the first and second vehicles.