公开(公告)号：US5436839A

公开(公告)日：1995-07-25

申请号：US966472

申请日：1992-10-26

Applicant: Mark E. Dausch ,  Bernard J. Carey ,  Piero P. Bonissone

Inventor： Mark E. Dausch ,  Bernard J. Carey ,  Piero P. Bonissone

IPC: G01C21/00 ,  G05B13/02 ,  G05D1/02 ,  G06F165/00

CPC classification number: G05D1/0221 ,  G05D1/0217 ,  G05D1/0231 ,  G05D2201/0218

Abstract: A fuzzy logic based navigation module for use on a semi-autonomous vehicle computes the safety of moving from predefined local regions to adjacent local regions for the purpose of planning a safe path for the vehicle to take to reach its intended destination. Image understanding software provides the input to the system in the form of values for linguistic variables for each local region which impact the safe movement of the vehicle. Using a five level hierarchial rule base structure, the fuzzy inference process computes intermediate and final safety values which are affected not only by local conditions but also by nearby conditions in order to allow a minimum clearance for the vehicle.

Abstract translation: 用于半自主车辆的基于模糊逻辑的导航模块计算从预定义的局部区域移动到相邻局部区域的安全性，以便规划车辆到达其预定目的地的安全路径。 图像理解软件以影响车辆安全运动的每个局部区域的语言变量的值的形式向系统提供输入。 使用五级分级规则库结构，模糊推理过程计算中间和最终安全值，这些值不仅受到局部条件的影响，还受到附近条件的影响，以便允许车辆的最小间隙。

公开(公告)号：US20230251661A1

公开(公告)日：2023-08-10

申请号：US17650240

申请日：2022-02-07

Applicant: Venturi Astrolab, Inc.

Inventor： Jaret B. MATTHEWS ,  Russell D. BILLING ,  Andrew J. WELTER ,  Craig WESTERN

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0094 ,  G05D1/0212 ,  G05D1/0022 ,  G05D1/0027 ,  G05D2201/0218

Abstract: Some embodiments of the disclosure are directed to multi-vehicle collaboration. In some embodiments, a first vehicle is in communication with a second vehicle. In some embodiments, one or more processors of the first vehicle are configured to communicate with one or more processors of the second vehicle to perform a joint action. In some embodiments, the one or more processors of the first vehicle are configured to selectively control components of a suspension system, a motor assembly, and/or a latch system of the vehicle to perform a first part of the joint action. In some embodiments, the one or more processors of the second vehicle are configured to selectively control components of the suspension system, the motor assembly, and/or the latch system of the second vehicle to perform a second part of the joint action.

公开(公告)号：US08532861B1

公开(公告)日：2013-09-10

申请号：US13487169

申请日：2012-06-02

Applicant: Fukashi Andoh

Inventor： Fukashi Andoh

IPC: G05D1/00

CPC classification number: G05D1/0223 ,  G05D2201/0218

Abstract: A protective device for an electronic unit on a space exploration vehicle. A Laplace transform calculation unit generates a Laplace transform of an electronic unit state. A system parameter identification unit identifies system parameters based on the Laplace transform of electronic unit states. A Fourier transform calculation unit generates a ratio of the ground contacting mechanism state to a highest dominant frequency of the measured electronic unit state. A critical travel speed calculation unit generates a critical travel speed based on the identified system parameters. A calculation unit for threshold of travel speed generates a threshold of a travel speed based on the critical travel speed. An autonomous motion controller generates a control signal that drives the space exploration vehicle based on the threshold of the travel speed.

Abstract translation: 用于太空探测车辆上的电子单元的保护装置。 拉普拉斯变换计算单元生成电子单位状态的拉普拉斯变换。 系统参数识别单元基于电子单元状态的拉普拉斯变换来识别系统参数。 傅立叶变换计算单元产生接地机构状态与所测量的电子单元状态的最高主频率的比率。 临界行驶速度计算单元基于所识别的系统参数产生临界行驶速度。 行驶速度阈值的计算单元基于临界行驶速度生成行驶速度的阈值。 自主运动控制器基于行驶速度的阈值生成驱动空间探测车辆的控制信号。

公开(公告)号：US20100280699A1

公开(公告)日：2010-11-04

申请号：US12432026

申请日：2009-04-29

Applicant: Vibhor L. Bageshwar ,  Kartik B. Ariyur

Inventor： Vibhor L. Bageshwar ,  Kartik B. Ariyur

IPC: G05D1/00

CPC classification number: G05D1/0231 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0875 ,  G05D1/0883 ,  G05D2201/0218

Abstract: An autonomous vehicle comprises at least one image sensor to provide measurements of landmark position for a plurality of landmarks; and processing functionality to estimate the position of the plurality of landmarks in a global frame and in the autonomous vehicle's frame, and to estimate the kinematic state of the autonomous vehicle in a global frame based, at least in part, on the measurements of landmark position from the at least one image sensor. The processing functionality is further operable to calculate errors in the estimated positions of the plurality of landmarks in the global frame and in the estimate of the kinematic state of the autonomous vehicle in the global frame by using a plurality of unit projection vectors between the estimated positions of the plurality landmarks in the autonomous vehicle's frame and a plurality of unit projection vectors between the estimated positions of the plurality of landmarks in the global frame.

Abstract translation: 自主车辆包括至少一个图像传感器，用于提供多个地标的地标位置的测量; 以及处理功能以估计在全局帧和自主车辆的帧中的多个地标的位置，并且至少部分地基于地标位置的测量来估计全局帧中的自主车辆的运动状态 从所述至少一个图像传感器。 处理功能还可操作用于通过使用估计位置之间的多个单位投影矢量来计算全局帧中的多个地标的估计位置和全局帧中的自主车辆的运动状态的估计中的误差 以及在全局帧中的多个地标的估计位置之间的多个单位投影矢量。

公开(公告)号：US07742845B2

公开(公告)日：2010-06-22

申请号：US11330077

申请日：2006-01-10

Applicant: Wolfgang Fink ,  James Dohm ,  Mark A. Tarbell

Inventor： Wolfgang Fink ,  James Dohm ,  Mark A. Tarbell

IPC: G06F19/00 ,  G05D1/00

CPC classification number: G05D1/0246 ,  G05D1/0278 ,  G05D1/0297 ,  G05D2201/0207 ,  G05D2201/0209 ,  G05D2201/0218

Abstract: A method of controlling a plurality of crafts in an operational area includes providing a command system, a first craft in the operational area coupled to the command system, and a second craft in the operational area coupled to the command system. The method further includes determining a first desired destination and a first trajectory to the first desired destination, sending a first command from the command system to the first craft to move a first distance along the first trajectory, and moving the first craft according to the first command. A second desired destination and a second trajectory to the second desired destination are determined and a second command is sent from the command system to the second craft to move a second distance along the second trajectory.

Abstract translation: 一种在操作区域中控制多个飞行物的方法包括提供命令系统，在与命令系统耦合的操作区域中的第一飞行器，以及耦合到命令系统的操作区域中的第二飞行器。 该方法还包括将第一期望目的地和第一轨迹确定到第一期望目的地，从命令系统向第一飞行器发送第一命令以沿着第一轨迹移动第一距离，以及根据第一航迹移动第一飞行器 命令。 确定第二期望目的地和到第二期望目的地的第二轨迹，并且从命令系统向第二飞行器发送第二命令以沿着第二轨迹移动第二距离。

公开(公告)号：US06990406B2

公开(公告)日：2006-01-24

申请号：US10625834

申请日：2003-07-22

Applicant: Wolfgang Fink ,  James Dohm ,  Mark A. Tarbell

Inventor： Wolfgang Fink ,  James Dohm ,  Mark A. Tarbell

IPC: G06F19/00 ,  G03B37/00

CPC classification number: G05D1/0297 ,  G05D1/0038 ,  G05D2201/0207 ,  G05D2201/0209 ,  G05D2201/0218

Abstract: A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

公开(公告)号：US20050113987A1

公开(公告)日：2005-05-26

申请号：US10625834

申请日：2003-07-22

Applicant: Wolfgang Fink ,  James Dohm ,  Mark Tarbell

Inventor： Wolfgang Fink ,  James Dohm ,  Mark Tarbell

IPC: G01C21/26 ,  G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0297 ,  G05D1/0038 ,  G05D2201/0207 ,  G05D2201/0209 ,  G05D2201/0218

Abstract: A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

Abstract translation: 用于勘探危险或无法进入的地点的多代理自治系统。 多代理自主系统包括简单的基于表面的代理或由机载跟踪和命令系统控制的工艺。 机载跟踪和指挥系统包括一个仪器套件，用于对操作区域进行成像和在操作区域内部署的任何工艺。 图像数据用于识别手术，探索目标和操作区域中的障碍物。 跟踪和命令系统使用识别的目标和障碍物来确定基于地面的飞行器的路径，并且使用简单的移动命令来命令飞行器通过操作区域移动到目标，同时避免障碍物。 每个工艺包括自己的仪器套件，用于收集有关操作区域的信息，并将其传送回跟踪和指挥系统。 跟踪和命令系统可以进一步耦合到卫星系统以提供关于操作区域的附加图像信息，并向跟踪和命令系统提供操作和位置命令。