AUTONOMOUS VEHICLE AND METHOD FOR COORDINATING THE PATHS OF MULTIPLE AUTONOMOUS VEHICLES

• US 20130238170A1
• Filed: 03/09/2012
• Published: 09/12/2013
• Est. Priority Date: 03/09/2012
• Status: Active Grant

• Current Assignee: IRIS ISR Incorporated
• Original Assignee: Proxy Technologies, Inc.
• Inventors: Klinger, John Solomon
• Granted Patent: US 8,788,121 B2
• Time in Patent Office: Days
• US Class Current: 701/3
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00

Abstract

A method for coordinating the paths of multiple autonomous vehicles and a vehicle configured to coordinate its path with the path(s) of other vehicles so as to enhance cooperation between the vehicles. The method also enables the vehicles to perform their respective missions more efficiently. The method is applicable to any system in which multiple autonomous vehicles may need to coordinate their paths with each other.

Claims

1-29. -29. (canceled)

30. A method, comprising:

generating, at a first autonomous vehicle, a first planned path based, at least in part, on a current position of the first autonomous vehicle and a mission requirement assigned to the first autonomous vehicle;

receiving, at the first autonomous vehicle, from a second autonomous vehicle, a first planned path associated with the second autonomous vehicle, the first planned path associated with the second autonomous vehicle being based, at least in part, on a current position of the second autonomous vehicle and a mission requirement assigned to the second autonomous vehicle;

after the receiving, generating, at the first autonomous vehicle, a second planned path based, at least in part, on the first planned path associated with the second autonomous vehicle and at least one of the mission requirement assigned to the first autonomous vehicle or the first planned path of the first autonomous vehicle;

transmitting the second planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle; and

receiving, at the first autonomous vehicle, from the second autonomous vehicle, a second planned path associated with the second autonomous vehicle, the second planned path for the second autonomous vehicle differing from the first planned path for the second autonomous vehicle.

31. The method of claim 30, wherein the mission requirement assigned to the first autonomous vehicle is a first mission requirement, the method further comprising:

receiving, at the first autonomous vehicle, a second mission requirement assigned to the first autonomous vehicle to replace the first mission requirement; and

generating, at the first autonomous vehicle, a third planned path based, at least in part, on the current position of the first autonomous vehicle and the second mission requirement.

32. The method of claim 30, further comprising:

determining, at the first autonomous vehicle, a future position of the first autonomous vehicle along the second planned path of the first autonomous vehicle; and

when the future position of the first autonomous vehicle is within a predetermined distance of a future position of the second autonomous vehicle along the second planned path associated with the second autonomous vehicle during a future period of time, generating a third planned path for the first autonomous vehicle to avoid a close encounter with the second autonomous vehicle during the future period of time, the third planned path of the first autonomous vehicle not placing the first autonomous vehicle within the predetermined distance of the future position of the second autonomous vehicle at any point along the third planned path of the first autonomous vehicle.

33. The method of claim 30, further comprising:

receiving, at the first autonomous vehicle, from a third autonomous vehicle, a planned path associated with the third autonomous vehicle,

the generating the second planned path including generating the second planned path of the first autonomous vehicle based, at least in part, on the first planned path associated with the second autonomous vehicle, the planned path associated with the third autonomous vehicle, and at least one of the mission requirement assigned to the first autonomous vehicle or the first planned path of the first autonomous vehicle.

34. The method of claim 30, further comprising:

receiving, at the first autonomous vehicle, from the second autonomous vehicle, a third planned path associated with the second autonomous vehicle when the second autonomous vehicle is unable to follow the second planned path due to at least one of an environmental factor or an equipment failure associated with the second autonomous vehicle;

generating, at the first autonomous vehicle, a third planned path based on the third planned path associated with the second autonomous vehicle and at least one of the mission requirement assigned to the first autonomous vehicle or the second planned path of the first autonomous vehicle; and

transmitting the third planned path from the first autonomous vehicle to the second autonomous vehicle.

35. The method of claim 30, wherein the second planned path for the second autonomous vehicle differs from the first planned path for the second autonomous vehicle based, at least in part, on the second planned path for the first autonomous vehicle.

36. The method of claim 30, wherein the second planned path of the first autonomous vehicle incorporates at least one of an evasive horizontal profile, a temporary altitude adjustment, or a temporary speed adjustment into the first planned path.

37. The method of claim 30, wherein the generating the second planned path of the first autonomous vehicle avoids a projected collision with the second autonomous vehicle at a future location along the first planned path.

38. The method of claim 30, wherein the mission requirement assigned to the first autonomous vehicle includes at least one of an instruction to orbit around a location of a target, an instruction to attack a target, or an instruction to provide laser designation of a target.

39. The method of claim 30, further comprising retransmitting data associated with the second planned path of the first autonomous vehicle to compensate for the possibility that the data associated with the second planned path of the first autonomous vehicle transmitted in the transmitting the second planned path was not received by the second autonomous vehicle.

40. The method of claim 30, further comprising:

controlling a movement of the first autonomous vehicle such that the first autonomous vehicle follows the first planned path, the controlling being autarchically performed by the first autonomous vehicle.

41. The method of claim 30, wherein the mission requirement assigned to the second autonomous vehicle includes at least one of an instruction to provide jamming measures in a target area, an instruction to provide air support, an instruction to provide a communications link, an instruction to provide intelligence for one or more autonomous vehicles, an instruction to locate an object, or an instruction to monitor a target area.

42. The method of claim 30, wherein the first autonomous vehicle is one of an unmanned aerial vehicle, an optionally piloted vehicle, a surface vehicle or a sea vehicle.

43. The method of claim 30, wherein the mission requirement assigned to the first autonomous vehicle is different from the mission requirement assigned to the second autonomous vehicle.

44. The method of claim 30, wherein the first planned path of the first autonomous vehicle includes a sequence of smoothly connecting arc segments and line segments.

60. The method of claim 30, wherein the generating, at the first autonomous vehicle, the first planned path includes generating, at the first autonomous vehicle, the first planned path such that the first planned path associated with the first autonomous vehicle is devoid of waypoints.

61. The method of claim 30, wherein the generating, at the first autonomous vehicle, the second planned path includes generating, at the first autonomous vehicle, the second planned path such that the second planned path associated with the first autonomous vehicle is devoid of waypoints.

62. The method of claim 30, wherein the first autonomous vehicle has a first rank, the second autonomous vehicle having a second rank, the first rank being higher than the second rank.

45-54. -54. (canceled)

55. A method, comprising:

generating, at a first autonomous vehicle, a first planned path based, at least in part, on a mission requirement assigned to the first autonomous vehicle and a first rank of the first autonomous vehicle;

receiving, at the first autonomous vehicle, from a second autonomous vehicle, a planned path associated with the second autonomous vehicle based, at least in part, on a mission requirement assigned to the second autonomous vehicle and a second rank of the second autonomous vehicle, the second rank being higher than the first rank;

after the receiving, generating, at the first autonomous vehicle, a second planned path based, at least in part, on the planned path associated with the second autonomous vehicle and at least one of the mission requirement assigned to the first autonomous vehicle or the first planned path of the first autonomous vehicle; and

transmitting the second planned path from the first autonomous vehicle to the second autonomous vehicle such that the first autonomous vehicle operates cooperatively with the second autonomous vehicle to perform the mission requirement assigned to the first autonomous vehicle.

56. The method of claim 55, further comprising:

determining, at the first autonomous vehicle, a future position of the first autonomous vehicle along the second planned path of the first autonomous vehicle at a future period of time;

determining, at the first autonomous vehicle, a future position of the second autonomous vehicle along the planned path associated with the second autonomous vehicle at the future period of time;

when the future position of the first autonomous vehicle is within a predetermined distance of the future position of the second autonomous vehicle during the future period of time, generating a third planned path for the first autonomous vehicle to avoid a close encounter with the second autonomous vehicle during the future period of time, the third planned path not placing the first autonomous vehicle within the predetermined distance of the future position of the second autonomous vehicle at any point along the third planned path of the first autonomous vehicle; and

after the generating the third planned path, transmitting the third planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle.

57. The method of claim 55, wherein the second planned path of the first autonomous vehicle incorporates at least one of a velocity adjustment, an altitude adjustment, or a horizontal profile adjustment into the first planned path of the first autonomous vehicle.

58. The method of claim 55, further comprising:

after the receiving, determining, at the first autonomous vehicle, a future position of the second autonomous vehicle along the planned path associated with the second autonomous vehicle;

when the future position of the second autonomous vehicle is within a predetermined distance of a future position of the first autonomous vehicle during a future period of time, generating a third planned path for the first autonomous vehicle to avoid a close encounter with the second autonomous vehicle during the future period of time, the third planned path not placing the first autonomous vehicle within the predetermined distance of the future position of the second autonomous vehicle at any point along the third planned path of the first autonomous vehicle; and

after the generating the third planned path, transmitting the third planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle.

59. The method of claim 55, further comprising:

receiving, at the first autonomous vehicle, from a third autonomous vehicle, a planned path associated with the third autonomous vehicle, the third autonomous vehicle having a third rank greater than the first rank;

generating, at the first autonomous vehicle, a third planned path based, at least in part, on the planned path associated with the third autonomous vehicle and at least one of the mission requirement assigned to the first autonomous vehicle or the second planned path; and

after the generating the third planned path, transmitting the third planned path to the second autonomous vehicle and the third autonomous vehicle.

63. The method of claim 55, wherein the generating, at the first autonomous vehicle, the first planned path includes generating, at the first autonomous vehicle, the first planned path such that the first planned path associated with the first autonomous vehicle is devoid of waypoints.

64. The method of claim 55, wherein the generating, at the first autonomous vehicle, the second planned path includes generating, at the first autonomous vehicle, the second planned path such that the second planned path associated with the first autonomous vehicle is devoid of waypoints.