System and method for behavior based control of an autonomous vehicle

• US 8,078,338 B2
• Filed: 10/22/2004
• Issued: 12/13/2011
• Est. Priority Date: 10/22/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Pack, Robert Todd, Allard, James, Barrett, David S., Filippov, Misha, Svendsen, Selma
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Amin, Bhavesh V
• Application Number:
  US10/972,081
• Publication Number:
  US 20060089765A1
• Time in Patent Office: 2,608 Days
• Field of Search: 701/23, 701/24, 701/28, 318/587
• US Class Current: 701/1
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• 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 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• 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: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.

Claims

1. A vehicle, comprising:

a drive control for receiving manual inputs from an operator input device to operate the vehicle in a manual mode;

actuators mated to the drive control, each actuator mated to the drive control by a mechanical linkage that disassociates and reassociates the actuator and drive control, each actuator being associated with a plurality of behaviors that each propose at least one action set;

an arbiter for;

(a) selecting, from amongst proposals provided by the behaviors, (i) the action set having highest priority from amongst the plurality of action sets, each action set characterized by a priority and comprising a plurality of alternative actions ranked according to a corresponding plurality of preferences, and (ii) an alternative action, from the selected action set, having highest corresponding preference, and

(b) modifying the selected alternative action based on an environmental condition around the vehicle; and

a controller in communication with the arbiter and the actuators for operating the actuators in accordance with the modified selected alternative action.

2. The vehicle of claim 1, wherein the drive control comprises at least one of a throttle, a brake, an accelerator, and a transmission shifter.

3. The vehicle of claim 1, wherein the plurality of alternative actions comprises at least one trajectory set that includes a plurality of possible paths that the vehicle may follow.

4. The vehicle of claim 1 further comprising at least one of a localization sensor in communication with the controller, a perception sensor in communication with the controller, and a terrain map in communication with the controller.

5. The vehicle of claim 4, wherein the localization sensor is selected from the group consisting of a pitch sensor, a roll sensor, a yaw sensor, an inertial navigation system, a compass, a global positioning system, and an odometer.

6. The vehicle of claim 4, wherein the perception sensor is selected from the group consisting of a light detecting and ranging system, a stereo vision system, an infrared vision system, a radar system, and a sonar system.

7. The vehicle of claim 1 further comprising at least one adjuster in communication with the controller for adjusting at least one of a translational velocity of the vehicle and a rotational velocity of the vehicle.

8. The vehicle of claim 1, wherein the arbiter modifies the selected alternative action based on data received from a sensor.

9. The vehicle of claim 1, wherein the arbiter modifies the selected alternative action based on data received from a terrain feature map.

10. The vehicle of claim 1 further comprising an articulation control for operating equipment attached to the vehicle.

11. The vehicle of claim 10, wherein the equipment comprises a tilling apparatus.

12. The vehicle of claim 10, wherein the equipment comprises a blade.

13. The vehicle of claim 1, wherein the mechanical linkage comprises a lever and pivot joint.

14. The vehicle of claim 1, wherein the mechanical linkage comprises a rack and pinion device.

15. The vehicle of claim 1, wherein the vehicle comprises a tractor.