Object sense and avoid system for autonomous vehicles

Beer, N. Reginald; Chambers, David; Paglieroni, David W.

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Title: Object sense and avoid system for autonomous vehicles

Abstract

A system for determining a travel path for an autonomous vehicle (“AV”) to travel to a target while avoiding objects (i.e., obstacles) without the use of an imaging system is provided. An object sense and avoid (“OSA”) system detects objects in an object field that is adjacent to the AV and dynamically generates, as the AV travels, a travel path to the target to avoid the objects. The OSA system repeatedly uses sensors to collect sensor data of any objects in the object field. An object detection system then detects the objects and determines their locations based on triangulating ranges to an object as indicated by different sensors. The path planner system then plans a next travel direction for the AV to avoid the detected objects while seeking to minimize the distance traveled. The OSA system then instructs the AV to travel in the travel direction.

Inventors:: Beer, N. Reginald; Chambers, David; Paglieroni, David W.

Issue Date:: 2023-10-24

Research Org.:: Lawrence Livermore National Laboratory (LLNL), Livermore, CA (United States)

Sponsoring Org.:: USDOE

OSTI Identifier:: 2293763

Patent Number(s):: 11796673

Application Number:: 16/315,142

Assignee:: Lawrence Livermore National Security, LLC (Livermore, CA)

DOE Contract Number:: AC52-07NA27344

Resource Type:: Patent

Resource Relation:: Patent File Date: 07/06/2016

Country of Publication:: United States

Language:: English

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                    Beer, N. Reginald, Chambers, David, and Paglieroni, David W. Object sense and avoid system for autonomous vehicles.  United States: N. p., 2023. 
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                    Beer, N. Reginald, Chambers, David, & Paglieroni, David W. Object sense and avoid system for autonomous vehicles.  United States.

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                    Beer, N. Reginald, Chambers, David, and Paglieroni, David W. Tue .  
        "Object sense and avoid system for autonomous vehicles".  United States.  https://www.osti.gov/servlets/purl/2293763.

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@article{osti_2293763,

  title        = {Object sense and avoid system for autonomous vehicles},

  author       = {Beer, N. Reginald and Chambers, David and Paglieroni, David W.},

  abstractNote = {A system for determining a travel path for an autonomous vehicle (“AV”) to travel to a target while avoiding objects (i.e., obstacles) without the use of an imaging system is provided. An object sense and avoid (“OSA”) system detects objects in an object field that is adjacent to the AV and dynamically generates, as the AV travels, a travel path to the target to avoid the objects. The OSA system repeatedly uses sensors to collect sensor data of any objects in the object field. An object detection system then detects the objects and determines their locations based on triangulating ranges to an object as indicated by different sensors. The path planner system then plans a next travel direction for the AV to avoid the detected objects while seeking to minimize the distance traveled. The OSA system then instructs the AV to travel in the travel direction.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {2023},

  month        = {10}

}

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Wireless signal localization and collection from an airborne symmetric line array network
patent, October 2018

Ngo, Tan Anh; Tummala, Murali; McEachen, John C.
US Patent Document 10,107,891
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/10107891

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Title: Object sense and avoid system for autonomous vehicles

Abstract

Citation Formats

Distributed control for multiple quadrotors with obstacle avoidance using potential fields conference, July 2016

Methods and apparatus for swarm navigation of multiple agents patent, July 2012

A unified distance transform algorithm and architecture journal, December 1992

Flying Fast and Low Among Obstacles: Methodology and Experiments journal, May 2008

Unmanned Aerial Vehicle Flight Path Determination, Optimization, and Management patent-application, November 2015

Control of swarms of autonomous robots using Model Driven Development - A state-based approach conference, April 2011

Surveying Areas Using a Radar System and an Unmanned Aerial Vehicle patent-application, April 2016

Systems and Methods for Time-Based Parallel Robotic Operation patent-application, November 2015

Real-time 3D navigation for autonomous vision-guided MAVs conference, September 2015

Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems journal, January 2012

Capturing Environmental Information patent-application, October 2012

Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles journal, November 2011

Path Planning in Complex 3D Environments Using a Probabilistic Roadmap Method journal, December 2013

Unmanned Aerial Vehicle and Methods for Controlling Same patent-application, October 2014

Sequential Operations in Digital Picture Processing journal, October 1966

An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment conference, September 2011

Collaborative system for a team of unmanned vehicles patent-application, January 2007

Computing Device and Method for Controlling Unmanned Aerial Vehicle to Capture Images patent-application, June 2013

Obstacle-avoiding navigation system patent, April 1991

Autonomous Nap-Of-the-Earth (ANOE) Flight Path Planning for Manned and Unmanned Rotorcraft patent-application, July 2016

Dynamically reconfigurable sensor arrays patent, June 2014

Multi-user MIMO via active scattering platforms patent, October 2017

Matching Random Tree Models of Spatio-Temporal Patterns to Tables or Graphs conference, April 2007

Surveying areas using a radar system and an unmanned aerial vehicle patent, August 2016

A Formal Basis for the Heuristic Determination of Minimum Cost Paths journal, January 1968

Reactive obstacle avoidance for Rotorcraft UAVs conference, September 2011

Unmanned Vehicle Movement Path Assignment and Management patent-application, November 2016

Outdoor flocking and formation flight with autonomous aerial robots conference, September 2014

Controlling unmanned aerial vehicles as a flock to synchronize flight in aerial displays patent, August 2015

Systems and methods for operating drones in response to an incident patent, March 2021

Object Discrimination Based on a Swarm of Agents patent-application, March 2018

Swarm management patent, May 2015

A linear time algorithm for computing exact Euclidean distance transforms of binary images in arbitrary dimensions journal, February 2003

Multi-Sensor Environmental Mapping patent-application, March 2016

Classification of subsurface objects using singular values derived from signal frames patent, May 2014

Control and Systems for Autonomously Driver Vehicles patent-application, October 2013

Mission planning system for vehicles with varying levels of autonomy patent-application, August 2006

Dynamic Collision-Avoidance System and Method patent-application, October 2017

Towards A Swarm of Agile Micro Quadrotors conference, July 2012

A note on two problems in connexion with graphs journal, December 1959

UAV formation flight using 3D potential field conference, June 2008

Reconnaissance using unmanned surface vehicles and unmanned micro-aerial vehicles patent, March 2004

Acoustic time-reversal mirrors journal, January 2001

Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies conference, January 2009

Faster algorithms for the shortest path problem journal, April 1990

Fibonacci heaps and their uses in improved network optimization algorithms journal, July 1987

Data Transmission System and Method patent-application, August 2012

System and Methods Relating to Autonomous Tracking and Surveillance patent-application, February 2010

Systems and Methods for Drone Navigation patent-application, May 2016

The Potential Field Approach And Operational Space Formulation In Robot Control book, January 1986

Kinodynamic Motion Planning journal, March 2010

Method and System for Aircraft Taxi Strike Alerting patent-application, October 2017

Systems and methods for automated cloud-based analytics for surveillance systems with unmanned aerial devices patent, August 2016

Collisionless flying of unmanned aerial vehicles that maximizes coverage of predetermined region patent, March 2017

Design of Experiments book, September 2012

Application of potential field methods in directing agents patent, September 2015

Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array patent, August 2015

Path planning and formation control via potential function for UAV Quadrotor conference, June 2014

Object detection and analysis via unmanned aerial vehicle patent, June 2018

Unmanned Vehicle (UV) Control System patent-application, August 2015

Driving Assistance Apparatus patent-application, March 2017

A strategy of multi-robot formation and obstacle avoidance in unknown environment conference, August 2016

Airborne relays in cooperative-MIMO systems patent, October 2017

Multiple pass location processor patent-application, January 2004

Subject Tracking System for Autonomous Vehicles patent-application, April 2017

The Hungarian method for the assignment problem journal, March 1955

Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors journal, January 2015

Neural Network-Based Mobility Management for Healing Mobile Ad Hoc Radio Networks patent-application, December 2007

Path Generator for Mobile Object patent-application, December 2006

Autonomous Mobile Robot patent-application, July 2007

System and method for controlling unmanned aerial vehicles patent, December 2017

Autonomous Mobile Body patent-application, May 2013

UCAV Path Planning by Fitness-Scaling Adaptive Chaotic Particle Swarm Optimization journal, January 2013

New scaling algorithms for the assignment and minimum mean cycle problems journal, February 1992

Energy-based approach for obstacle avoidance patent, October 2000

Object detection with a multistatic array using singular value decomposition patent, July 2014

Wireless signal localization and collection from an airborne symmetric line array network patent, October 2018

Distributed control for multiple quadrotors with obstacle avoidance using potential fields
conference, July 2016

Methods and apparatus for swarm navigation of multiple agents
patent, July 2012

A unified distance transform algorithm and architecture
journal, December 1992

Flying Fast and Low Among Obstacles: Methodology and Experiments
journal, May 2008

Unmanned Aerial Vehicle Flight Path Determination, Optimization, and Management
patent-application, November 2015

Control of swarms of autonomous robots using Model Driven Development - A state-based approach
conference, April 2011

Surveying Areas Using a Radar System and an Unmanned Aerial Vehicle
patent-application, April 2016

Systems and Methods for Time-Based Parallel Robotic Operation
patent-application, November 2015

Real-time 3D navigation for autonomous vision-guided MAVs
conference, September 2015

Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
journal, January 2012

Capturing Environmental Information
patent-application, October 2012

Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles
journal, November 2011

Path Planning in Complex 3D Environments Using a Probabilistic Roadmap Method
journal, December 2013

Unmanned Aerial Vehicle and Methods for Controlling Same
patent-application, October 2014

Sequential Operations in Digital Picture Processing
journal, October 1966

An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment
conference, September 2011

Collaborative system for a team of unmanned vehicles
patent-application, January 2007

Computing Device and Method for Controlling Unmanned Aerial Vehicle to Capture Images
patent-application, June 2013

Obstacle-avoiding navigation system
patent, April 1991

Autonomous Nap-Of-the-Earth (ANOE) Flight Path Planning for Manned and Unmanned Rotorcraft
patent-application, July 2016

Dynamically reconfigurable sensor arrays
patent, June 2014

Multi-user MIMO via active scattering platforms
patent, October 2017

Matching Random Tree Models of Spatio-Temporal Patterns to Tables or Graphs
conference, April 2007

Surveying areas using a radar system and an unmanned aerial vehicle
patent, August 2016

A Formal Basis for the Heuristic Determination of Minimum Cost Paths
journal, January 1968

Reactive obstacle avoidance for Rotorcraft UAVs
conference, September 2011

Unmanned Vehicle Movement Path Assignment and Management
patent-application, November 2016

Outdoor flocking and formation flight with autonomous aerial robots
conference, September 2014

Controlling unmanned aerial vehicles as a flock to synchronize flight in aerial displays
patent, August 2015

Systems and methods for operating drones in response to an incident
patent, March 2021

Object Discrimination Based on a Swarm of Agents
patent-application, March 2018

Swarm management
patent, May 2015

A linear time algorithm for computing exact Euclidean distance transforms of binary images in arbitrary dimensions
journal, February 2003

Multi-Sensor Environmental Mapping
patent-application, March 2016

Classification of subsurface objects using singular values derived from signal frames
patent, May 2014

Control and Systems for Autonomously Driver Vehicles
patent-application, October 2013

Mission planning system for vehicles with varying levels of autonomy
patent-application, August 2006

Dynamic Collision-Avoidance System and Method
patent-application, October 2017

Towards A Swarm of Agile Micro Quadrotors
conference, July 2012

A note on two problems in connexion with graphs
journal, December 1959

UAV formation flight using 3D potential field
conference, June 2008

Reconnaissance using unmanned surface vehicles and unmanned micro-aerial vehicles
patent, March 2004

Acoustic time-reversal mirrors
journal, January 2001

Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies
conference, January 2009

Faster algorithms for the shortest path problem
journal, April 1990

Fibonacci heaps and their uses in improved network optimization algorithms
journal, July 1987

Data Transmission System and Method
patent-application, August 2012

System and Methods Relating to Autonomous Tracking and Surveillance
patent-application, February 2010

Systems and Methods for Drone Navigation
patent-application, May 2016

The Potential Field Approach And Operational Space Formulation In Robot Control
book, January 1986

Kinodynamic Motion Planning
journal, March 2010

Method and System for Aircraft Taxi Strike Alerting
patent-application, October 2017

Systems and methods for automated cloud-based analytics for surveillance systems with unmanned aerial devices
patent, August 2016

Collisionless flying of unmanned aerial vehicles that maximizes coverage of predetermined region
patent, March 2017

Design of Experiments
book, September 2012

Application of potential field methods in directing agents
patent, September 2015

Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array
patent, August 2015

Path planning and formation control via potential function for UAV Quadrotor
conference, June 2014

Object detection and analysis via unmanned aerial vehicle
patent, June 2018

Unmanned Vehicle (UV) Control System
patent-application, August 2015

Driving Assistance Apparatus
patent-application, March 2017

A strategy of multi-robot formation and obstacle avoidance in unknown environment
conference, August 2016

Airborne relays in cooperative-MIMO systems
patent, October 2017

Multiple pass location processor
patent-application, January 2004

Subject Tracking System for Autonomous Vehicles
patent-application, April 2017

The Hungarian method for the assignment problem
journal, March 1955

Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors
journal, January 2015

Neural Network-Based Mobility Management for Healing Mobile Ad Hoc Radio Networks
patent-application, December 2007

Path Generator for Mobile Object
patent-application, December 2006

Autonomous Mobile Robot
patent-application, July 2007

System and method for controlling unmanned aerial vehicles
patent, December 2017

Autonomous Mobile Body
patent-application, May 2013

UCAV Path Planning by Fitness-Scaling Adaptive Chaotic Particle Swarm Optimization
journal, January 2013

New scaling algorithms for the assignment and minimum mean cycle problems
journal, February 1992

Energy-based approach for obstacle avoidance
patent, October 2000

Object detection with a multistatic array using singular value decomposition
patent, July 2014

Wireless signal localization and collection from an airborne symmetric line array network
patent, October 2018