公开(公告)号：US20180186391A1

公开(公告)日：2018-07-05

申请号：US15906654

申请日：2018-02-27

Applicant: Clearpath Robotics Inc.

Inventor： Ryan Christopher GARIEPY ,  Alex BENCZ ,  Yan MA ,  Michael IRVINE ,  Shahab KAYNAMA ,  James SERVOS ,  Peiyi CHEN

IPC: B61L3/00 ,  G05D1/00 ,  B61L15/00

Abstract: Systems and methods for obstacle avoidance with a self-driving vehicle are provided. The system comprises a processor connected to the self-driving vehicle and a sensor in communication with the processor. The sensor is configured to detect objects. The processor is configured to receive a measurement of the self-driving vehicle's speed, and define a sensor region based on the speed. The processor can determine that an object detected by the sensor is within the sensor region, and then initiate a fail-safe routine. The sensor region may be defined based on a range parameter. The sensor region may be defined based on the stopping distance of the vehicle. The sensor region may be redefined when the vehicle's speed changes.

公开(公告)号：US20170197643A1

公开(公告)日：2017-07-13

申请号：US15164280

申请日：2016-05-25

Applicant: CLEARPATH ROBOTICS, INC.

Inventor： Ryan Christopher GARIEPY ,  Alex BENCZ ,  Yan MA ,  Michael IRVINE ,  Shahab KAYNAMA ,  James SERVOS ,  Peiyi CHEN

IPC: B61L3/00 ,  B61L15/00 ,  G05D1/00

CPC classification number: B61L3/006 ,  B61L3/008 ,  B61L15/0072 ,  G05D1/0066 ,  G05D1/0088 ,  G05D1/0238 ,  G05D2201/0212

Abstract: A system for path control for a mobile unmanned vehicle in an environment is provided. The system includes: a sensor connected to the mobile unmanned vehicle; the mobile unmanned vehicle configured to initiate a first fail-safe routine responsive to detection of an object in a first sensor region adjacent to the sensor; and a processor connected to the mobile unmanned vehicle. The processor is configured to: generate a current path based on a map of the environment; based on the current path, issue velocity commands to cause the mobile unmanned vehicle to execute the current path; responsive to detection of an obstacle in a second sensor region, initiate a second fail-safe routine in the mobile unmanned vehicle to avoid entry of the obstacle into the first sensor region and initiation of the first fail-safe routine.