Robotic guarded motion system and method
Abstract
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.
- Inventors:
-
- Idaho Falls, ID
- Issue Date:
- Research Org.:
- Idaho National Laboratory (INL), Idaho Falls, ID (United States)
- Sponsoring Org.:
- USDOE
- OSTI Identifier:
- 1014172
- Patent Number(s):
- 7668621
- Application Number:
- US Patent Application 11/428,769
- Assignee:
- The United States of America as represented by the United States Department of Energy (Washington, DC)
- Patent Classifications (CPCs):
-
G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
G - PHYSICS G06 - COMPUTING G06N - COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
- DOE Contract Number:
- AC07-05ID14517
- Resource Type:
- Patent
- Country of Publication:
- United States
- Language:
- English
Citation Formats
Bruemmer, David J. Robotic guarded motion system and method. United States: N. p., 2010.
Web.
Bruemmer, David J. Robotic guarded motion system and method. United States.
Bruemmer, David J. Tue .
"Robotic guarded motion system and method". United States. https://www.osti.gov/servlets/purl/1014172.
@article{osti_1014172,
title = {Robotic guarded motion system and method},
author = {Bruemmer, David J},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Feb 23 00:00:00 EST 2010},
month = {Tue Feb 23 00:00:00 EST 2010}
}
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