Maneuvering system for autonomous wheeled robot for optimally reaching starting point

Patent metadata

Field	Value
Publication number	US-11809191-B2
Application number	US-202017284516-A
Country	US
Kind code	B2
Filing date	Sep 29, 2020
Priority date	Sep 29, 2020
Publication date	Nov 7, 2023
Grant date	Nov 7, 2023

Abstract

System for navigating to a trajectory starting point by autonomous robot includes a GNSS navigation receiver including antenna, analog front end, plurality of channels, and a processor, generating navigation and orientation data for the robot; based on the navigation and the orientation data, the system calculating a position and a direction of movement for the robot towards the starting point of the trajectory, given known physical constraints for movement of the robot; the system calculating spatial and orientation coordinates z 1 , z 2 of the robot, which relate to the position and the direction of movement, where z 1 represents lateral deviation, and z 2 represents angular deviation; the system continuing with a programmed path for the robot for any spatial and orientation coordinates z 1 , z 2 within an attraction domain; and for any spatial and orientation coordinates of the robot outside the attraction domain, the system continues maneuvering until the robot is inside the attraction domain.

First claim

What is claimed is:

1. A system for navigating to a trajectory starting point by an autonomous robot, the system comprising:
a GNSS navigation receiver including an antenna or multiple antennas, an analog front end, a plurality of channels, and a processor, all generating navigation and orientation data for the robot;
based on the navigation and the orientation data, the system calculating a position and a direction of movement for the robot towards the starting point of the trajectory, given known physical constraints for movement of the robot;
the system calculating spatial and orientation coordinates z 1 , z 2 of the robot, which relate to the position and the direction of movement, where z 1 represents lateral deviation, and z 2 represents angular deviation;
the system continuing with a programmed path for the robot for any spatial and orientation coordinates z 1 , z 2 within an attraction domain; and
for any spatial and orientation coordinates of the robot outside the attraction domain, the system continues maneuvering until the robot is inside the attraction domain.

2. The system of claim 1 , wherein a measure V(z) of distance from zero in a z 1 , z 2 plane defined by

V
⁡
(
z
)

=

z
T

⁢
Pz

+

θ
⁢

∫
0

c
T

⁢
z

Φ
⁡
(

z
2

,
σ

)

⁢
d
⁢
σ

,

where P is a 2 by 2 matrix
z T is (z 1 , z 2 ) T , T stands for transposition,
θ is a scalar coefficient,
Φ is a control function defined by

Φ
⁡
(

z
2

,
σ

)

=

s

u
_

(

σ

(

1
+

z
2
2

)

3
2

)

⁢

(

1
+

z
2
2

)

3
2

,

s

u
_

(
u
)

=

{

-

u
_

for

u
≤

-

u
_

,

u

for

❘
"\[LeftBracketingBar]"

u

❘
"\[RightBracketingBar]"

<

u
_

,

u
_

for

Assignees

• Llc “Topcon Positioning Systems”
• Topcon Positioning Systems Inc

Inventors

• Di Federico Ivan Giovanni
• Generalov Alexey Anatolievich
• Rapoport Lev Borisovich

Classifications

• G05D1/0214 Primary

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title

• G05D1/0238

  using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93) · CPC title

• G05D1/0257

  using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931) · CPC title

• G05D1/0278

  using satellite positioning signals, e.g. GPS · CPC title

• G05D1/0219 Primary

  ensuring the processing of the whole working surface · CPC title