Autonomous behaviors for a remove vehicle

• US 8,843,244 B2
• Filed: 05/14/2007
• Issued: 09/23/2014
• Est. Priority Date: 10/06/2006
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Phillips, Emilie, Rudakevych, Pavlo E., Taka, Orjeta, Wolfe, James Gordon Jr., Frost, Tom
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): Han, Charles J
• Application Number:
  US11/748,363
• Publication Number:
  US 20080086241A1
• Time in Patent Office: 2,689 Days
• Field of Search: 701/2, 701/24
• US Class Current: 701/2
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• 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

Abstract

A system and method for allowing an operator to switch between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors, or for implementing remote vehicle autonomous behaviors. The system comprises an operator control system receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior, and a control system on the remote vehicle for receiving the instruction to execute an autonomous behavior from the operator control system. Upon receiving the instruction to execute an autonomous behavior, the remote vehicle executes that autonomous behavior.

Claims

1. A system for managing control of two or more remote vehicle autonomous behaviors, the system comprising:

an operator control system receiving input from the operator including instructions for the remote vehicle to execute a requested autonomous behavior;

a control system on the remote vehicle for receiving the instructions to execute the requested autonomous behavior from the operator control system and comprising an arbiter,

wherein the requested autonomous behavior sends a vote to the arbiter requesting control of one or more actuators on the remote vehicle configured to perform the requested autonomous behavior and, if the requested autonomous behavior has a higher priority than any executing behavior currently in control of one or more of the actuators, the requested autonomous behavior can execute, and

wherein the requested autonomous behavior is not permitted to execute if actions to be performed by the requested autonomous behavior are incompatible with any executing behavior.

2. The system of claim 1, wherein the remote vehicle executes the requested autonomous behavior if permitted.

3. The system of claim 1, wherein the requested autonomous behavior comprises one of a ballistic behavior, a semi-ballistic behavior, and a persistent behavior.

4. The system of claim 3, wherein the ballistic behavior comprises one of stair climbing, a preset action, click-to-drive, click-to-grip, a preconfigured pose, retro traverse, self-righting, and autonomous flipper.

5. The system of claim 3, wherein the semi-ballistic behavior comprises one of quick brake, speed boost, and cruise control.

6. The system of claim 3, wherein the persistent behavior comprises one of retro traverse, self righting, obstacle avoidance, and autonomous flippers.