Robotic guarded motion system and method

Bruemmer, David J

Robotic guarded motion system and method

Patent · Mon Feb 22 23:00:00 EST 2010

OSTI ID:1014172

Bruemmer, David J ^[1]

Idaho Falls, ID

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

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Research Organization:: Idaho National Laboratory (INL), Idaho Falls, ID (United States)

Sponsoring Organization:: USDOE

DOE Contract Number:: AC07-05ID14517

Assignee:: The United States of America as represented by the United States Department of Energy (Washington, DC)

Patent Number(s):: 7,668,621

Application Number:: US Patent Application 11/428,769

OSTI ID:: 1014172

Country of Publication:: United States

Language:: English

References (16)

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