Distributed collaborative operations processor systems and methods

Patent metadata

Field	Value
Publication number	US-9760094-B2
Application number	US-201414509948-A
Country	US
Kind code	B2
Filing date	Oct 8, 2014
Priority date	Oct 8, 2014
Publication date	Sep 12, 2017
Grant date	Sep 12, 2017

Abstract

Described herein is an apparatus for semi-autonomous vehicle control of a vehicle includes a distributed mission module configured to modify a mission element of a group mission based on availability of data. The group mission involves a plurality of vehicles. The apparatus also includes a guidance module configured to compute a path for a local vehicle of the plurality of vehicles based on the modified mission element. The path is configured to achieve the modified mission element. Additionally, the apparatus includes a multi-protocol translator module configured to convert the path into one or more control commands for the local vehicle. The distributed mission module, guidance module, and multi-protocol translator are located on-board the vehicle.

First claim

What is claimed is:

1. An apparatus for semi-autonomous vehicle control, the apparatus comprising:
a communications module configured to maintain a communication link with a central control station;
a distributed mission module configured to:
receive mission data from the central control station, the mission data including a group mission involving a plurality of vehicles,
modify a mission element of the group mission in response to each of the plurality of vehicles losing communication with the central control station, and
determine one or more local waypoints based on the modified mission element;

a guidance module configured to:
identify one or more tasks corresponding to the one or more local waypoints, and
compute a local path for a local vehicle of the plurality of vehicles based on the modified mission element, the local path configured to reach the one or more local waypoints and to achieve the modified mission element; and

a multi-protocol translator module configured to convert the local path into one or more control commands for the local vehicle, wherein the local vehicle operates in response to the one or more control commands;
wherein the distributed mission module, guidance module, and multi-protocol translator module are located on-board the local vehicle.

2. The apparatus of claim 1 , wherein the distributed mission module selects a contingency element corresponding to the mission element in response to data from the central control station being unavailable.

3. The apparatus of claim 1 , wherein the distributed mission module defines at least one task for the local vehicle based on the modified mission element, the task comprising a task type, a task location, and a task parameter, wherein the guidance module computes the local path based on the at least one task.

4. The apparatus of claim 1 , wherein the guidance module is further configured to compute paths for each of others of the plurality of vehicles based on the modified mission element.

5. The apparatus of claim 1 , further comprising a health manager module configured to determine a health state of the local vehicle, wherein the distributed mission module modifies the mission element based on the health state.

6. The apparatus of claim 1 , further comprising a swarm control module configured to compute one or more control commands for the local vehicle to cooperate as a swarm with the plurality of vehicles.

7. The apparatus of claim 1 , further comprising a deconfliction module configured to receive waypoint goals for the plurality of vehicles and to modify the local path based on the waypoint goals to minimize path conflicts among the plurality of vehicles.

8. The apparatus of claim 1 , further comprising a collision avoidance module configured to receive vehicle positions for the plurality of vehicles and to modify the local path in real-time based on the vehicles positions to avoid collisions.

9. The apparatus of claim 1 , further comprising a task manager module configured to define a task for the local vehicle based on the modified mission element, wherein the guidance module is further configured to generate a waypoint goal based on the defined task.

10. The apparatus of claim 9 , further comprising a health manager module configured to determine a health state of the local vehicle, wherein the health state comprises a fuel status of the local vehicle and the task manager module modifies the task for the local vehicle based on the health state.

11. The apparatus of claim 1 , further comprising a task planning module configured to generate a waypoint goal based on the modified mission element, wherein the guidance module is further configured to compute the local path that reaches the waypoint goal.

12. The apparatus of claim 1 , further comprising a resource manager module configured to identify resources and capabilities of the plurality of vehicles, wherein the distributed mission module modifies the mission element based on available resources and capabilities of the plurality of vehicles.

13. The apparatus of claim 1 , wherein the multi-protocol translator module automatically identifies a protocol of the local path, and automatically converts the local path into a different protocol corresponding with the one or more control commands for the local vehicle.

14. A method for semi-autonomous vehicle control, comprising:
maintaining a communication link with a central control station;
receiving mission data from the central control station, the mission data including a group mission involving a plurality of vehicles;
modifying a mission element of the group mission in response to each of the plurality of vehicles losing communication with the central control station;
determining one or more local waypoints based on the modified mission element;
identifying one or more tasks corresponding to the one or more local waypoints;
compute a local path for a local vehicle of the plurality of vehicles based on the modified mission element, the local path configured to reach the one or more local waypoints and to achieve the modified mission element; and
converting the local path into one or more control commands for the local vehicle, wherein the local vehicle operates in response to the one or more control commands.

15. The method of claim 14 , further comprising:
receiving vehicle positions for the plurality of vehicles;
receiving health data for the plurality of vehicles; and
modifying the mission element based on the vehicles positions and the health data.

16. The method of claim 14 , further comprising:
generating at least one task based on the modified mission element, the task being configured to accomplish the modified mission element;
calculating a local waypoint goal based on the at least one task, wherein generating the one or more control commands comprises calculating the local path from a current position to the local waypoint goal; and
communicating the local waypoint goal to others of the plurality of vehicles.

17. The method of claim 16 , further comprising:
receiving waypoint goals from the others of the plurality of vehicles;
calculating the local path that minimizes path conflicts based on the received waypoint goals; and
modifying the one or more control commands based on a calculated path.

18. The method of claim 14 , further comprising defining a formation for the plurality of vehicles based on the modified mission element, wherein generating the one or more control commands comprises calculating positional commands and velocity commands for the local vehicle consistent with the defined formation.

19. A system for semi-autonomous vehicle control, comprising:
a central command station that provides mission data to a plurality of vehicles, the mission data including a group mission involving the plurality of vehicles, the group mission comprising a plurality of mission elements; and
a plurality of vehicles, each vehicle comprising an autonomy module, the autonomy module comprising:
a communications module configured to maintain a communication link with a central control station;
a distributed mission module configured to:
receive the group mission from the central control station,
modify a mission element of the group mission in response to each of the plurality of vehicles losing communication with the central control station, and
determine one or more local waypoints based on the modified mission element;

a guidance module configured to:
identify one or more tasks corresponding to the one or mor

Assignees

• Boeing Co

Inventors

• Saad Emad W
• Vian John L

Classifications

• H04L69/08

  Protocols for interworking; Protocol conversion · CPC title

• G05D1/104 Primary

  involving a plurality of aircrafts, e.g. formation flying (traffic control systems for aircraft G08G5/00) · CPC title

• G08G5/0039

  Physics · mapped topic

• G08G5/0069

  Physics · mapped topic

• G05D1/0295

  by at least one leading vehicle of the fleet · CPC title