System and method for behavior based control of an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-9513634-B2
Application number	US-201514797709-A
Country	US
Kind code	B2
Filing date	Jul 13, 2015
Priority date	Oct 22, 2004
Publication date	Dec 6, 2016
Grant date	Dec 6, 2016

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.

First claim

What is claimed is:

1. A method for behavior based control of an autonomous vehicle, the method comprising the steps of:
identifying at least one input device in the autonomous vehicle;
providing at least one actuator associated with the at least one input device;
providing at least one arbiter associated with the at least one actuator;
defining a plurality of behaviors associated with the at least one actuator,
defining at least one action set, each action set characteriz…

Assignees

• Irobot Corp

Inventors

• Pack Robert Todd
• Allard James
• Barrett David S
• Filippov Misha
• Svendsen Selma

Classifications

• G05D1/0061

  Physics · mapped topic

• G05D1/0278

  Physics · mapped topic

• G05D1/0242

  Physics · mapped topic

• G05D1/0088 Primary

  Physics · mapped topic

• G05D1/0257

  Physics · mapped topic