Methods and systems for remote control of self-propelled vehicles

• US 6,640,164 B1
• Filed: 08/28/2001
• Issued: 10/28/2003
• Est. Priority Date: 08/28/2001
• Status: Expired due to Fees

• Current Assignee: Exelis Incorporated (L3Harris Technologies, Inc.)
• Original Assignee: ITT Manufacturing Enterprises, Inc. (ITT, Inc.)
• Inventors: Farwell, Mark L., Caldwell, Douglas E.
• Primary Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US09/939,764
• Time in Patent Office: 791 Days
• Field of Search: 701/2, 701/23-25, 701/26, 701/93, 701/96, 701/300, 701/301, 342/70, 342/71, 340/425.5, 340/435, 340/436, 340/903, 340/901, 180/167, 180/168, 180/169
• US Class Current: 701/2
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

A method and system for remote control of self-propelled vehicles includes a leader vehicle and at least one follower vehicle located behind the leader vehicle. The leader vehicle traverses a waypoint, determines a first set of GPS coordinates corresponding to the waypoint, and transmits the first set of GPS coordinates to the follower vehicle. The follower vehicle determines a second set of GPS coordinates corresponding to its own position and compares the first set of GPS coordinates to the second set of GPS coordinates. By controlling steering, drive and braking systems of the follower vehicle with a servo-actuator, the follower vehicle is guided toward the waypoint by minimizing the difference between the first and second sets of GPS coordinates. This process is repeated at a succession of waypoints such that the follower vehicle traverses the same course as the leader vehicle.

Claims

1. A system for remote control of self-propelled vehicles, the system comprising:

a leader vehicle, said leader vehicle substantially traversing a waypoint, said waypoint located at a first set of GPS coordinates;

said leader vehicle determining said first set of GPS coordinates and transmitting said first set of GPS coordinates to at least one follower vehicle;

said follower vehicle located at a position behind said leader vehicle, said position being defined by a second set of GPS coordinates as determined by said follower vehicle;

said follower vehicle further comprising;

a receiver for receiving said first set of GPS coordinates from said leader vehicle;

a comparator for comparing said first set of GPS coordinates to said second set of GPS coordinates and outputting a difference therebetween;

a servo-actuator responsive to said difference output of said comparator for controlling steering, drive, and braking systems of said follower vehicle;

wherein said servo-actuator guides said follower vehicle toward said waypoint by minimizing the difference between said first set of GPS coordinates and said second set of GPS coordinates, and wherein;

said leader vehicle substantially traverses a second waypoint located a predetermined distance from said waypoint, said leader vehicle determining a third set of GPS coordinates of said second waypoint and transmitting said third set of GPS coordinates to said follower vehicle,

said follower vehicle receives said third set of GPS coordinates and determines a fourth set of GPS coordinates coincident with a position of said follower vehicle; and

said servo-actuator guides said follower vehicle from said fourth set of GPS coordinates to said third set of GPS coordinates.

2. The system for the remote control of self-propelled vehicles of claim 1, further comprising:

an object sensor mounted on said follower vehicle; and

wherein said servo-actuator is responsive to said object sensor.

3. The system for the remote control of self-propelled vehicles of claim 1, wherein:

said waypoint is one of a plurality of waypoints.

4. The system for the remote control of self-propelled vehicles of claim 1, wherein:

said follower vehicle re-transmits said first set of GPS coordinates.

5. The system for the remote control of self-propelled vehicles of claim 1, wherein:

said comparator is a computer.

6. The system for the remote control of self-propelled vehicles of claim 1, further comprising:

a steering mechanism responsive to said servo-actuator.

7. The system for the remote control of self-propelled vehicles of claim 1, further comprising:

a propulsion mechanism responsive to said servo-actuator.

8. The system for the remote control of self-propelled vehicles of claim 1, further comprising:

a braking mechanism responsive to said servo-actuator.

9. A method of remotely controlling a plurality of self-propelled vehicles comprising:

a) assigning one of said plurality of vehicles to be a manned leader vehicle;

b) assigning at least one vehicle of said plurality of vehicles that is not the leader vehicle to be an unmanned follower vehicle;

c) driving said leader vehicle over a course;

d) determining a first set of GPS coordinates, by said leader vehicle, of at least a first waypoint substantially traversed by said leader vehicle;

e) broadcasting said first set of GPS coordinates to said follower vehicle;

f) receiving said first set of GPS coordinates by said follower vehicle;

g) determining a second set of GPS coordinates, by said follower vehicle, coincident with a position of said follower vehicle; and

h) guiding said follower vehicle toward said first waypoint by minimizing the difference between said first set of GPS coordinates and said second set of GPS coordinates by automatic control of servo-actuated vehicle propulsion and guidance systems;

i) driving said leader vehicle substantially over a second waypoint at a predetermined distance from said first waypoint;

j) determining a third set of GPS coordinates, by said leader vehicle, of said second waypoint;

k) broadcasting said third set of GPS coordinates to said follower vehicle;

l) receiving said third set of GPS coordinates by said follower vehicle;

m) determining a fourth set of GPS coordinates, by said follower vehicle, coincident with a position of said follower vehicle; and

n) guiding said follower vehicle from said fourth set of GPS coordinates to said third set of GPS coordinates.

10. The method of remotely controlling a plurality of self-propelled vehicles of claim 9, further comprising the steps of:

o) re-transmitting said first set of GPS coordinates by said follower vehicle.

11. The method of remotely controlling a plurality of self-propelled vehicles of claim 9, further comprising the steps of:

o) sensing an object in front of one of the vehicles;

p) avoiding the object.