UNMANNED VEHICLE, SYSTEM AND METHOD FOR CORRECTING A TRAJECTORY OF AN UNMANNED VEHICLE

• US 20170229029A1
• Filed: 07/08/2016
• Published: 08/10/2017
• Est. Priority Date: 02/04/2016
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Corp.
• Original Assignee: Proxy Technologies, Inc.
• Inventors: KLINGER, John, CESARANO, Patrick C.
• Granted Patent: US 9,911,346 B2
• Time in Patent Office: Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/102 adapted for flying in formations
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: G01S 13/02 Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 2013/0254 Active array antenna
• CPC Class Codes: G01S 7/006 using shared front-end circuitry, e.g. antennas G01S13/765, G01S13/825 take precedence
• CPC Class Codes: G05B 13/024 in which a parameter or coefficient is automatically adjusted to optimise the performance
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00
• CPC Class Codes: G06V 20/17 : taken from planes or by drones
• CPC Class Codes: G06V 20/176 : Urban or other man-made structures
• 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
• CPC Class Codes: G08G 9/02 : Anti-collision systems
• CPC Class Codes: H01Q 3/26 : varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture H01Q3/12, H01Q3/22, H01Q3/24 take precedence
• CPC Class Codes: H01Q 3/2617 : Array of identical elements
• CPC Class Codes: H01Q 3/28 : varying the amplitude
• CPC Class Codes: H01Q 3/36 : with variable phase-shifters
• CPC Class Codes: H04B 7/0617 : for beam forming
• CPC Class Codes: H04B 7/18506 : Communications with or from aircraft, i.e. aeronautical mobile service

Abstract

Some embodiments are directed to an unmanned vehicle for use with a companion unmanned vehicle. The unmanned vehicle includes a position unit that is configured to determine a current position of the unmanned vehicle. The unmanned vehicle includes a memory unit that is configured to store a planned path of the unmanned vehicle. The unmanned vehicle includes a control unit that is configured to determine that the unmanned vehicle is off-course based on the current position of the unmanned vehicle and the planned path assigned to the unmanned vehicle, generate a delay and a corrected path for the unmanned vehicle, and communicate the delay and the corrected path to the companion unmanned vehicle. The control unit is further configured to control a movement of the unmanned vehicle along the corrected path after the delay.

Claims

1. A method of controlling an unmanned vehicle for use with a companion unmanned vehicle, the unmanned vehicle being operatively coupled to a controller, comprising:

determining, by the controller, a current position of the unmanned vehicle;

determining, by the controller, that the unmanned vehicle is off-course based on the current position and a planned path of the unmanned vehicle;

generating, by the controller, a delay and a corrected path for the unmanned vehicle;

communicating, by the controller, the delay and the corrected path to the companion unmanned vehicle; and

controlling, by the controller, a movement of the unmanned vehicle such that the unmanned vehicle moves along the corrected path after the delay

wherein the delay is a time delay, which provides the unmanned vehicle with a period of time before a change is initiated in the first trajectory of the unmanned vehicle to a second trajectory.

2. The method of claim 1, further comprising:

determining, by the controller, a planned position of the unmanned vehicle based on the planned path;

comparing, by the controller, the planned position based on the planned path with the current position of the unmanned vehicle;

determining, by the controller, that the unmanned vehicle is off-course based on the comparison between the planned position and the current position.

3. The method of claim 1, further comprising generating the corrected path based on at least the difference between the planned position and the current position.

4. The method of claim 1, wherein the delay is a time period between determination that the unmanned vehicle is off-course and commencement of travel on the corrected path.

5. The method of claim 1, further comprising:

generating, by the controller, an intermediate path based on at least the current position and the corrected path; and

controlling, by the controller, the movement of the unmanned vehicle such that the unmanned vehicle moves along the intermediate path during the delay.

6. The method of claim 1, further comprising:

receiving, by the controller, a planned path of the companion unmanned vehicle; and

generating the delay based on at least the current position of the unmanned vehicle and the planned path of the companion unmanned vehicle.

7. The method of claim 1, further comprising controlling, by the controller, the movement of the unmanned vehicle during the delay in order to impede a collision with the companion unmanned vehicle.

8. The method of claim 1, wherein the corrected path is the planned path or a new path distinct from the planned path.

9. An unmanned vehicle for use with a companion unmanned vehicle, comprising:

a position unit that is configured to determine a current position of the unmanned vehicle;

a memory unit that is configured to store a planned path of the unmanned vehicle; and

a control unit disposed in communication with the position unit and the memory unit, the control unit configured to;

determine that the unmanned vehicle is off-course based on the current position of the unmanned vehicle and the planned path assigned to the unmanned vehicle;

generate a delay and a corrected path for the unmanned vehicle;

communicate the delay and the corrected path to the companion unmanned vehicle; and

control a movement of the unmanned vehicle such that the unmanned vehicle moves along the corrected path after the delay

wherein the delay is a time delay, which provides the unmanned vehicle with a period of time before a change is initiated in the first trajectory of the unmanned vehicle to a second trajectory.

10. The unmanned vehicle of claim 9, further comprising a communication unit that is configured to receive a planned path of a companion unmanned vehicle, wherein the control unit is further configured to generate the delay based on at least the planned path of the companion unmanned vehicle and the current position of the unmanned vehicle.

11. The unmanned vehicle of claim 9, wherein the control unit is further configured to:

determine a planned position of the unmanned vehicle based on the planned path;

compare the planned position based on the planned path with the current position of the unmanned vehicle; and

determine that the unmanned vehicle is off-course based on the comparison between the planned position and the current position.

12. The unmanned vehicle of claim 11, wherein the control unit is further configured to generate the corrected path based on at least the difference between the planned position and the current position.

13. The unmanned vehicle of claim 9, wherein the delay is a time period between determination that the unmanned vehicle is off-course and commencement of travel on the corrected path.

14. The unmanned vehicle of claim 9, wherein the control unit is further configured to:

generate an intermediate path based on at least the current position and the corrected path; and

control the movement of the unmanned vehicle such that the unmanned vehicle moves along the intermediate path during the delay.

15. The unmanned vehicle of claim 9, wherein the control unit is further configured to control the movement of the unmanned vehicle during the delay in order to impede a collision with the companion unmanned vehicle.

16. The unmanned vehicle of claim 9, further comprising a detection unit that is configured to detect an obstacle, wherein the control unit is further configured to control the movement of the unmanned vehicle in order to impede a collision with the obstacle.

17. The unmanned vehicle of claim 9, wherein the unmanned vehicle is one of an unmanned aerial vehicle, an unmanned terrestrial vehicle, an unmanned aquatic vehicle, an unmanned space vehicle, and an optionally manned vehicle.

18. A system comprising:

a plurality of unmanned vehicles spaced from each other, each of the plurality of unmanned vehicles including;

a position unit that is configured to determine a current position of the unmanned vehicle; and

a memory unit that is configured to store a planned path of the unmanned vehicle; and

a controller disposed in communication with the each of the plurality of unmanned vehicles, the controller configured to;

receive the current position and the planned path of each of the plurality of unmanned vehicles;

determine that at least one unmanned vehicle is off-course based on the current position and the planned path of each of the plurality of unmanned vehicles;

generate a delay and a corrected path for the at least one unmanned vehicle;

communicate the delay and the corrected path to each of the plurality of unmanned vehicles; and

control a movement of the at least one unmanned vehicle such that the at least one unmanned vehicle moves along the corrected path after the delay

wherein the delay is a time delay, which provides the unmanned vehicle with a period of time before a change is initiated in the first trajectory of the unmanned vehicle to a second trajectory.

19. The system of claim 18, wherein the controller is further configured to:

generate an intermediate path based on at least the current position and the corrected path of the at least one unmanned vehicle; and

control the movement of the at least one unmanned vehicle such that the at least one unmanned vehicle moves along the intermediate path during the delay.

20. The system of claim 18, wherein the controller is further configured to:

determine a planned position of the at least one unmanned vehicle based on the planned path; and

generate the corrected path based at least on a difference between the planned position and the current position of the at least one unmanned vehicle.