WO2008021612A3 - Autonomous navigation system and method - Google Patents

Autonomous navigation system and method Download PDF

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Publication number
WO2008021612A3
WO2008021612A3 PCT/US2007/070932 US2007070932W WO2008021612A3 WO 2008021612 A3 WO2008021612 A3 WO 2008021612A3 US 2007070932 W US2007070932 W US 2007070932W WO 2008021612 A3 WO2008021612 A3 WO 2008021612A3
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WO
WIPO (PCT)
Prior art keywords
robot
range
velocity
proportion
event
Prior art date
Application number
PCT/US2007/070932
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French (fr)
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WO2008021612A2 (en
Inventor
Douglas A Few
David J Bruemmer
Original Assignee
Battelle Energy Alliance Llc
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Publication date
Application filed by Battelle Energy Alliance Llc filed Critical Battelle Energy Alliance Llc
Publication of WO2008021612A2 publication Critical patent/WO2008021612A2/en
Publication of WO2008021612A3 publication Critical patent/WO2008021612A3/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours

Abstract

Robot platforms, methods, and computer media are disclosed. The robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.
PCT/US2007/070932 2006-07-05 2007-06-12 Autonomous navigation system and method WO2008021612A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/428,637 2006-07-05
US11/428,637 US7587260B2 (en) 2006-07-05 2006-07-05 Autonomous navigation system and method

Publications (2)

Publication Number Publication Date
WO2008021612A2 WO2008021612A2 (en) 2008-02-21
WO2008021612A3 true WO2008021612A3 (en) 2008-08-28

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PCT/US2007/070932 WO2008021612A2 (en) 2006-07-05 2007-06-12 Autonomous navigation system and method

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US (1) US7587260B2 (en)
WO (1) WO2008021612A2 (en)

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