Recherche dans les collections de brevets nationales et internationales
Certains contenus de cette application ne sont pas disponibles pour le moment.
Si cette situation persiste, veuillez nous contacter àObservations et contact
1. (WO2008060689) COMPORTEMENTS AUTONOMES POUR UN VÉHICULE COMMANDÉ À DISTANCE
Note: Texte fondé sur des processus automatiques de reconnaissance optique de caractères. Seule la version PDF a une valeur juridique

CLAIMS
What is claimed is:

1. A system for allowing an operator to switch between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors, comprising:
an operator control system receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior;
a control system on the remote vehicle for receiving the instruction to execute an autonomous behavior from the operator control system;
wherein, upon receiving the instruction to execute an autonomous behavior, the remote vehicle executes that autonomous behavior.

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

3. The system of claim 2, wherein the autonomous behavior is not permitted if one or more of the remote vehicle's position within its environment, the current internal state of the remote vehicle, the current operational behavior of the remote vehicle, or the remote vehicle's environment are incompatible with the autonomous behavior.

4. The system of claim 1, wherein the control system comprises an arbiter, and wherein the autonomous behavior sends a vote to the arbiter requesting control of one or more actuators on the remote vehicle necessary to perform the autonomous behavior.

5. The system of claim 4, wherein, if the voting autonomous behavior has a higher priority than a behavior currently in control of the one or more actuators, the autonomous behavior executes.

6. The system of claim 1, wherein the autonomous behaviors comprise one or more of ballistic, semi-ballistic, and persistent behaviors.

7. The system of claim 6, wherein ballistic behaviors comprise one or more of stair climbing, preset actions, click-to-drive, click-to-grip, preconfigured poses, retro traverse, self-righting, and autonomous flipper.

8. The system of claim 6, wherein semi-ballistic behaviors comprise one or more of quick brake, speed boost, and cruise control.

9. The system of claim 6, wherein persistent behaviors comprise one or more of retro traverse, self righting, obstacle avoidance, and autonomous flippers.

10. A method for switching between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors, comprising:
inputting instructions for the remote vehicle to execute an autonomous behavior;
evaluating one or more of the remote vehicle's position within its environment, the current internal state of the remote vehicle, the current operational behavior of the remote vehicle, or the remote vehicle's environment are incompatible with the autonomous behavior;

and
allowing the autonomous behavior to send a vote to an arbiter if the remote vehicle's position within its environment, the current internal state of the remote vehicle, the current operational behavior on the remote vehicle, or the remote vehicle's environment are compatible with the autonomous behavior,
wherein a vote to the arbiter requests control of one or more actuators on the remote vehicle necessary to perform the autonomous behavior.

11. The method of claim 10, further comprising executing the autonomous behavior if the voting autonomous behavior has a higher priority than a behavior currently in control of the one or more actuators.

12. The system of claim 10, wherein the autonomous behaviors comprise one or more of ballistic, semi-ballistic, and persistent behaviors.

13. The system of claim 12, wherein ballistic behaviors comprise one or more of stair climbing, preset actions, click-to-drive, click-to-grip, preconfigured poses, retro traverse, self-righting, and autonomous flipper.

14. The system of claim 12, wherein semi-ballistic behaviors comprise one or more of quick brake, speed boost, and cruise control.

15. The system of claim 12, wherein persistent behaviors comprise one or more of retro traverse, self righting obstacle avoidance, and autonomous flippers.

16. A system for implementing remote vehicle autonomous behaviors, comprising:
an operator control system receiving instructions for the remote vehicle to execute an autonomous behavior;
a control system on the remote vehicle for one or more of executing a persistent autonomous behavior and receiving the instruction to execute an autonomous behavior from the operator control system;
wherein, upon receiving the instruction to execute an autonomous behavior, the remote vehicle executes that autonomous behavior.

17. The system of claim 16, wherein the remote vehicle executes the autonomous behavior if permitted.

18. The system of claim 17, wherein the autonomous behavior is not permitted if one or more of the remote vehicle's position within its environment, the current internal state of the remote vehicle, the current operational behavior of the remote vehicle, or the remote vehicle's environment are incompatible with the autonomous behavior.

19. The system of claim 16, wherein the control system comprises an arbiter, and wherein the autonomous behavior sends a vote to the arbiter requesting control of one or more actuators on the remote vehicle necessary to perform the autonomous behavior.

20. The system of claim 19, wherein, if the voting autonomous behavior has a higher priority than a behavior currently in control of the one or more actuators, the autonomous behavior executes.

21. The system of claim 16, wherein the autonomous behaviors comprise one or more of ballistic, semi-ballistic, and persistent behaviors.

22. The system of claim 21, wherein ballistic behaviors comprise one or more of stair climbing, preset actions, click-to-drive, click-to-grip, preconfigured poses, retro traverse, self-righting, and autonomous flipper.

23. The system of claim 21, wherein semi-ballistic behaviors comprise one or more of quick brake, speed boost, and cruise control.

24. The system of claim 21, wherein persistent behaviors comprise one or more of retro traverse, self righting obstacle avoidance, and autonomous flippers.

25. The system of claim 16, wherein the persistent autonomous behavior is executed
continuously, upon input from one or more sensors of the remote vehicle, or upon being activated by another behavior.

26. A method for implementing remote vehicle autonomous behaviors, comprising:
inputting instructions for the remote vehicle to execute an autonomous behavior;

evaluating one or more of the remote vehicle's position within its environment, the current internal state of the remote vehicle, the current operational behavior of the remote vehicle, or the remote vehicle's environment are incompatible with the autonomous behavior; and
allowing the autonomous behavior to send a vote to an arbiter if the remote vehicle's position within its environment, the current internal state of the remote vehicle, the current operational behavior on the remote vehicle, or the remote vehicle's environment are compatible with the autonomous behavior,
wherein a vote to the arbiter requests control of one or more actuators on the remote vehicle necessary to perform the autonomous behavior.

27. The method of claim 26, further comprising executing the autonomous behavior if the voting autonomous behavior has a higher priority than a behavior currently in control of the one or more actuators.

28. The system of claim 26, wherein the autonomous behaviors comprise one or more of ballistic, semi-ballistic, and persistent behaviors.

29. The system of claim 28, wherein ballistic behaviors comprise one or more of stair climbing, preset actions, click-to-drive, click-to-grip, preconfigured poses, retro traverse, self-righting, and autonomous flipper.

30. The system of claim 28, wherein semi-ballistic behaviors comprise one or more of quick brake, speed boost, and cruise control.

31. The system of claim 28, wherein persistent behaviors comprise one or more of retro traverse, self righting obstacle avoidance, and autonomous flippers.