公开(公告)号：US20170102701A1

公开(公告)日：2017-04-13

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 ,  G05D1/02

CPC classification number: G05D1/0088 ,  G05D1/0011 ,  G05D1/0061 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G06N3/008

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.

公开(公告)号：US09513634B2

公开(公告)日：2016-12-06

申请号：US14797709

申请日：2015-07-13

Applicant: IROBOT CORPORATION

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

IPC: G05D1/00 ,  G06F7/00 ,  G05D1/02

CPC classification number: G05D1/0088 ,  G05D1/0011 ,  G05D1/0061 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G06N3/008

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.

公开(公告)号：US20160187885A1

公开(公告)日：2016-06-30

申请号：US14797709

申请日：2015-07-13

Applicant: IROBOT CORPORATION

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

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0088 ,  G05D1/0011 ,  G05D1/0061 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G06N3/008

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.

Abstract translation: 自主车辆基于行为控制的系统和方法。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节流杆，舵机，系杆，节气门，制动器，加速器或变速器换档器）以引导车辆的操作。 表征车辆操作模式的行为与致动器相关联。 这些行为包括以优先级排列的行动集，行动集包括车辆完成任务所采取的替代行动。 替代动作按优先级排序，并且仲裁者选择要执行的动作，并且可选地修改。

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.

公开(公告)号：US20190033866A1

公开(公告)日：2019-01-31

申请号：US16148626

申请日：2018-10-01

Applicant: IROBOT CORPORATION

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

IPC: G05D1/00 ,  G06N3/00 ,  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.

公开(公告)号：US20130214498A1

公开(公告)日：2013-08-22

申请号：US13657316

申请日：2012-10-22

Applicant: IROBOT CORPORATION

Inventor： Thomas L. DeFazio ,  David S. Barrett ,  Chikyung Won ,  Selma Svendson

IPC: B62D57/02

CPC classification number: B62D57/02 ,  B60G2300/45 ,  B62D57/024 ,  B62D61/10 ,  B62D61/12

Abstract: A wheeled platform 100 is disclosed, which is characterized by high mobility and reliability, and which can be used in a wide range of applications including transport and robotic devices. The wheeled platform 100 has fore and aft body portions 130, 132, each body portion 130, 132 having first and second sides 106, 108. Overlapping wheels 112, 114, 116, 118 are rotatably attached to the first side 106 and overlapping wheels 120, 122, 124, 126 are rotatably attached to the second side 108. The fore body portion 130 can be connected to the aft body portion 132 via an articulation element 133.

Abstract translation: 公开了一种轮式平台100，其特征在于高移动性和可靠性，并且可以用于广泛的应用，包括运输和机器人设备。 轮式平台100具有前部和后部主体部分130,132，每个主体部分130,132具有第一和第二侧面106,108。重叠轮112,114,116,118可旋转地附接到第一侧面106和重叠的轮子120 122,124,126可旋转地附接到第二侧面108.前身部分130可以经由铰接元件133连接到后身部分132。