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Title: Autonomous navigation system and method

Abstract

A 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 event horizon 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 event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

Inventors:
 [1];  [1]
  1. Idaho Falls, ID
Publication Date:
Research Org.:
Idaho National Lab. (INL), Idaho Falls, ID (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
988823
Patent Number(s):
7,587,260
Application Number:
11/428,637
Assignee:
Battelle Energy Alliance, LLC (Idaho Falls, ID) IDO
DOE Contract Number:  
AC07-05ID14517
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
47 OTHER INSTRUMENTATION

Citation Formats

Bruemmer, David J, and Few, Douglas A. Autonomous navigation system and method. United States: N. p., 2009. Web.
Bruemmer, David J, & Few, Douglas A. Autonomous navigation system and method. United States.
Bruemmer, David J, and Few, Douglas A. Tue . "Autonomous navigation system and method". United States. https://www.osti.gov/servlets/purl/988823.
@article{osti_988823,
title = {Autonomous navigation system and method},
author = {Bruemmer, David J and Few, Douglas A},
abstractNote = {A 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 event horizon 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 event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2009},
month = {9}
}

Patent:

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