Autonomous behaviors for a remote vehicle
First Claim
1. A method for performing retrotraverse and self-righting behaviors for a remote vehicle having a control system comprising a memory and being configured to communicate with an operator control unit, the method comprising:
- executing a persistent self-righting behavior on a computing processor, the self-righting behavior comprising sensing an orientation of the remote vehicle with respect to a supporting surface using an inertial measurement unit and performing a progression of flipper movements until the remote vehicle is righted; and
executing a retrotraverse behavior on a computing processor, the retrotraverse behavior comprising;
generating a list of time stamped waypoints separated by at least a minimum difference in time and distance;
storing the list of time stamped waypoints in the memory; and
generating, using a control system, a current return path interconnecting previously-traversed waypoints in reverse order of timestamps upon losing communication with the operator control unit or upon receiving a command from the operator control unit.
4 Assignments
0 Petitions
Accused Products
Abstract
A method comprising running a persistent self-righting behavior comprising sensing an orientation of the remote vehicle and performing a progression of flipper movements until the remote vehicle is righted, and performing a retrotraverse behavior comprising: generating a list of time stamped waypoints separated by at least a minimum difference in time and distance; storing the list of time stamped waypoints in the memory; and generating, using a control system, a current return path interconnecting previously-traversed waypoints in reverse order of timestamps upon losing communication with the operator control unit or upon receiving a command from the operator control unit.
133 Citations
20 Claims
-
1. A method for performing retrotraverse and self-righting behaviors for a remote vehicle having a control system comprising a memory and being configured to communicate with an operator control unit, the method comprising:
-
executing a persistent self-righting behavior on a computing processor, the self-righting behavior comprising sensing an orientation of the remote vehicle with respect to a supporting surface using an inertial measurement unit and performing a progression of flipper movements until the remote vehicle is righted; and executing a retrotraverse behavior on a computing processor, the retrotraverse behavior comprising; generating a list of time stamped waypoints separated by at least a minimum difference in time and distance; storing the list of time stamped waypoints in the memory; and generating, using a control system, a current return path interconnecting previously-traversed waypoints in reverse order of timestamps upon losing communication with the operator control unit or upon receiving a command from the operator control unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A method for controlling a remote vehicle with persistent autonomous behaviors including a retrotraverse behavior and a self-righting behavior executing on a computing processor, the method comprising:
-
sensing an orientation of the remote vehicle with respect to a supporting surface using an inertial measurement unit, and, if the orientation indicates a non-righted remote vehicle, performing a progression of flipper motions until the remote vehicle is righted; and determining whether the retrotraverse behavior is active; if the retrotraverse behavior is active, erasing previously-used waypoints; determining a current position of the remote vehicle and a current time, and pre-pending the current position and the current time to a list of time stamped waypoints; generating additional waypoints and adding them to the list of time stamped waypoints; storing the list of time stamped waypoints in non-transitory memory; determining whether a control signal has been received from an operator control unit; and if a control signal has not been received from the operator control unit; setting a retrotraverse start time to the current time; generating a return path interconnecting previously-traversed waypoints in reverse order of timestamps; navigating the remote vehicle along the return path until a control signal is received from the operator control unit; and setting a retrotraverse end time to the current time. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
-
Specification