Collision avoidance involving radar feedback
First Claim
1. An unmanned mobile vehicle comprising:
- a radar configured to detect obstacles in the path of the unmanned mobile vehicle; and
a collision avoidance module configured to enable the unmanned mobile vehicle to avoid unexpected obstacles by adjusting the trajectory and velocity of the unmanned mobile vehicle based on feedback received from the radar.
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Accused Products
Abstract
Collision avoidance systems and methods are implemented on unmanned mobile vehicles to supplement map-based trajectories generated by the vehicles'"'"' navigation systems. These systems include radar, which detect obstacles in the path of the unmanned mobile vehicles, and collision avoidance modules, which enable the vehicles to avoid unexpected obstacles by adjusting their trajectories and velocities based on feedback received from the radar. In general, when an obstacle is detected by the radar, the collision avoidance module modifies the commanded velocity of an unmanned mobile vehicle by subtracting from the nominal commanded velocity the component that is in the direction of the obstacle. The magnitude of the velocity modification typically increases as the distance between the mobile vehicle and the obstacle decreases.
83 Citations
25 Claims
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1. An unmanned mobile vehicle comprising:
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a radar configured to detect obstacles in the path of the unmanned mobile vehicle; and
a collision avoidance module configured to enable the unmanned mobile vehicle to avoid unexpected obstacles by adjusting the trajectory and velocity of the unmanned mobile vehicle based on feedback received from the radar. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for avoiding an obstacle in an unmanned mobile vehicle, the method comprising:
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detecting the obstacle with a radar; and
while the obstacle is within radar range, eliminating the component of the vehicle'"'"'s velocity that is in the direction of the obstacle. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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21. A system comprising a plurality of unmanned mobile vehicles, wherein each unmanned mobile vehicle comprises:
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a navigation system configured to generate map-based trajectories;
a radar configured to detect obstacles in the path of the unmanned mobile vehicle; and
a collision avoidance module configured to enable the unmanned mobile vehicle to avoid unexpected obstacles by adjusting the trajectory and velocity of the unmanned mobile vehicle based on feedback received from the radar. - View Dependent Claims (22, 23, 24, 25)
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Specification