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    Remote Vehicle Control System and Method
    13.
    发明申请
    Remote Vehicle Control System and Method 有权
    远程车辆控制系统及方法

    公开(公告)号：US20150134146A1

    公开(公告)日：2015-05-14

    申请号：US14587396

    申请日：2014-12-31

    Applicant: iRobot Corporation

    Inventor： Robert Todd Pack ,  Daniel P. Allis

    IPC: G05D1/00 ,  G01C21/26

    CPC classification number: G05D1/0011 ,  G01C21/26 ,  G05D1/0038 ,  G05D2201/0209

    Abstract: A system includes an operator control unit having a point-and-click interface configured to allow the operator to control the remote vehicle by inputting one or more commands via the point-and-click interface. The operator control unit displays a 3D local perceptual space comprising an egocentric coordinate system encompassing a predetermined distance centered on the remote vehicle, a remote vehicle representation having selectable portions, and an icon at a point selected in the 3D local perceptual space and at a corresponding location in an alternative view of a map having an identified current location of the remote vehicle. The system also includes a payload attached to the remote vehicle. The payload includes a computational module and an integrated sensor suite including a global positioning system, an inertial measurement unit, and a stereo vision camera.

    Abstract translation: 系统包括操作员控制单元，其具有点对点接口，其被配置为允许操作者通过点击式界面输入一个或多个命令来控制远程车辆。 操作员控制单元显示3D本地感知空间，其包括包含以远程车辆为中心的预定距离的自我中心坐标系，具有可选部分的远程车辆表示和在3D局部感知空间中选择的点处的图标 在具有所识别的远程车辆的当前位置的地图的替代视图中的位置。 该系统还包括附接到远程车辆的有效载荷。 有效载荷包括计算模块和包括全球定位系统，惯性测量单元和立体视觉摄像机的集成传感器套件。

    Digest for localization or fingerprinted overlay
    14.
    发明授权
    Digest for localization or fingerprinted overlay 有权
    摘要用于本地化或指纹叠加

    公开(公告)号：US08903644B2

    公开(公告)日：2014-12-02

    申请号：US13688933

    申请日：2012-11-29

    Applicant: iRobot Corporation

    Inventor： Robert Todd Pack

    IPC: G01S1/24 ,  G01C21/00 ,  G05D1/02

    CPC classification number: G01C21/00 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0209

    Abstract: A method for mapping an environment proximal to a vehicle includes obtaining a current location of the vehicle according to a map of the environment, detecting at least one characteristic of the environment at the current location, and storing the at least one characteristic in a characteristic digest. The characteristic digest respectively associates one or more locations in the environment to one or more sets of previously detected characteristics in the environment. The method also includes associating the at least one characteristic with the current location in the characteristic digest.

    Abstract translation: 用于映射邻近车辆的环境的方法包括根据环境图获得车辆的当前位置，检测当前位置处的环境的至少一个特征，以及将该至少一个特征存储在特征摘要中 。 特征摘要分别将环境中的一个或多个位置与环境中的一组或多组先前检测到的特征相关联。 该方法还包括将该至少一个特征与特征摘要中的当前位置相关联。

    System and method for behavior based control of an autonomous vehicle
    15.
    发明授权
    System and method for behavior based control of an autonomous vehicle 有权

    公开(公告)号：US10088845B2

    公开(公告)日：2018-10-02

    申请号：US15354526

    申请日：2016-11-17

    Applicant: IROBOT CORPORATION

    Inventor： Robert Todd Pack ,  James Allard ,  David S. Barrett ,  Misha Filippov ,  Selma Svendsen

    IPC: G05D1/00 ,  G06F7/00 ,  G05D1/02

    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.

    Advanced behavior engine
    16.
    发明授权
    Advanced behavior engine 有权
    高级行为引擎

    公开(公告)号：US09327403B2

    公开(公告)日：2016-05-03

    申请号：US14036451

    申请日：2013-09-25

    Applicant: iRobot Corporation

    Inventor： Robert Todd Pack ,  Orjeta Taka

    IPC: G01C22/00 ,  G05D1/00 ,  B25J9/16 ,  G06N3/00 ,  G05D1/02

    CPC classification number: B25J9/1664 ,  G05B2219/40519 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0209 ,  G05D2201/0213 ,  G06N3/008

    Abstract: A method of commanding a remote vehicle includes executing a command on a controller of the remote vehicle based on a kinodynamic fixed depth motion planning algorithm to use incremental feedback from evaluators to select a best feasible action. The method also includes determining servo commands corresponding to the best feasible action for one or more actuators of a drive system or a manipulation system of the remote vehicle and commanding the one or more actuators of the remote vehicle based on the servo commands. The best feasible action includes actions within a fixed time horizon of several seconds from a current time each time a feasible action is selected.

    Abstract translation: 一种命令远程车辆的方法包括基于动力学固定深度运动规划算法在远程车辆的控制器上执行命令，以使用来自评估者的增量反馈来选择最佳可行动作。 该方法还包括确定对应于远程车辆的驱动系统或操纵系统的一个或多个致动器的最佳可行动作的伺服命令，并基于伺服命令来命令远程车辆的一个或多个致动器。 最佳可行动作包括在每次选择可行动作时，从当前时间几秒钟的固定时间范围内的动作。

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