Systems and methods for obstacle avoidance

• US 8,020,657 B2
• Filed: 10/20/2006
• Issued: 09/20/2011
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: Deere & Company, iRobot Corporation
• Original Assignee: Deere & Company, iRobot Corporation
• Inventors: Wienhold, Kathleen A., Catalfano, Anthony Francis, Norris, William Robert, Allard, James
• Primary Examiner(s): Restifo; Jeffrey J
• Application Number:
  US11/584,097
• Publication Number:
  US 20070193798A1
• Time in Patent Office: 1,796 Days
• Field of Search: 180/167, 180/168, 180/169, 701/23, 701/24, 701/25, 701/26, 701/27, 701/28
• US Class Current: 180/167
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• 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 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

Embodiments of the invention provide systems and methods for obstacle avoidance. In some embodiments, a robotically controlled vehicle capable of operating in one or more modes may be provided. Examples of such modes include teleoperation, waypoint navigation, follow, and manual mode. The vehicle may include an obstacle detection and avoidance system capable of being implemented with one or more of the vehicle modes. A control system may be provided to operate and control the vehicle in the one or more modes. The control system may include a robotic control unit and a vehicle control unit.

Claims

1. A robotically controlled vehicle comprising:

a robotic control unit comprising a control application;

a sensor for detecting object data representing detected obstacles or objects located outside of the robotically controlled vehicle and for transmitting the object data to the robotic control unit, the object data being three-dimensional data;

wherein the robotic control unit is capable of generating a map based on the object data, the map comprising map data, the map data including position data of detected obstacles or objects, the map data being two-dimensional data; and

wherein the control application is capable of determining vehicle actions based at least in part on the map data, and the control application is capable of outputting a control command representing the vehicle actions to a vehicle control unit.

2. The robotically controlled vehicle of claim 1, wherein the vehicle actions include at least one of vehicle velocity and vehicle direction.

3. The robotically controlled vehicle of claim 1, wherein the sensor is a laser scanner.

4. The robotically controlled vehicle of claim 1, wherein the robotic control unit comprises a processor and a memory having executable code, the executable code comprising a drive arbiter that receives two-dimensional map data and vehicle destination data and generates a set of vehicle actions based on, at least in part, the map data and vehicle destination data.

5. The robotically controlled vehicle of claim 4, wherein the set of vehicle actions comprise provider components that create vehicle actions and projector components that limit vehicle actions.

6. The robotically controlled vehicle of claim 5, wherein the provider components comprise at least one of a teleoperation component, “

Follow Me”

mode information, odometer waypoints, and GPS waypoints; and

wherein the projector components comprise map data.

7. The robotically controlled vehicle of claim 1, further comprising the vehicle control unit that is capable of receiving vehicle actions from the robotic control unit and is capable of outputting control signals to a vehicle actuator.

8. The robotically controlled vehicle of claim 1, wherein the robotic control unit is capable of outputting control signals to a vehicle actuator.

9. A robotically controlled vehicle comprising:

a robotic control unit comprising a control application;

a sensor for detecting object data representing detected obstacles or objects located outside of the robotically controlled vehicle and for transmitting the object data to the robotic control unit;

wherein the robotic control unit is capable of generating a map based on the object data, the map comprising map data, the map data including position data of detected obstacles or objects;

wherein the control application is capable of determining vehicle actions based at least in part on the map data, and the control application is capable of outputting a control command representing the vehicle actions to a vehicle control unit; and

wherein the sensor is a laser scanner assembly adapted to connect to a robotic vehicle, the laser scanner assembly comprising;

a laser scanner for transmitting a laser beam to detect the presence of an obstacle;

a scanner mechanism for manipulating the position of the laser scanner; and

a guard for protecting the laser scanner from damage and for allowing the laser beam to detect the presence of an obstacle, the guard comprising;

a base for connecting the laser scanner assembly to the robotic vehicle;

at least two support elements connected to the base; and

a plurality of support ribs connected to the at least two support elements.

10. The robotically controlled vehicle of claim 9, wherein the plurality of support ribs are positioned outside an angular window of the laser beam.

11. The robotically controlled vehicle of claim 9, wherein the plurality of support ribs have a first cross-sectional area and a second cross-sectional area larger than the first cross-sectional area;

and

wherein the plurality of support ribs are positioned such that the first cross-sectional area of the plurality of support ribs is in an angular window of the laser beam.

12. A robotic vehicle comprising:

a forward sensor assembly for executing a front range scan to obtain forward data representing obstacles or objects at least in front of the vehicle;

a rear sensor assembly for executing a rear range scan to obtain rear data representing obstacles or objects at least behind the vehicle; and

a robotic control unit for receiving the forward and rear data and generating an obstacle map based on the forward and rear data, the robotic control unit comprising;

the obstacle map;

a range guard application for detecting interruptions in the forward and rear data and substituting, based at least on the interruptions, data in the forward and rear data indicating the presence of obstacles in the forward and rear scan range; and

a control application for determining a trajectory based at least in part on the obstacle map and outputting control commands to a vehicle control unit based at least in part on the trajectory.

13. The robotic vehicle of claim 12, wherein the forward sensor assembly comprises a laser scanner.

14. The robotic vehicle of claim 12, wherein the rear sensor assembly comprises a laser scanner.

15. The robotic vehicle of claim 12, wherein the robotic vehicle is adapted to operate in a mode, the mode includes at least one of GPS waypoint, teleoperation, “

Follow Me,” and

teach and playback.

16. The robotic vehicle of claim 15, wherein the robotic control unit is adapted to alter a robotic control vehicle speed and direction as directed by the mode based on the obstacle map.