Method and system for providing autonomous control of a platform

US8229595B2 · kind B2 · utility

Inventors

• Michael J. Seelinger · South Bend, US
• John-David S. Yoder · Ottawa, US

Key dates

• Filing date: Jun 19, 2009
• Grant date: Jul 24, 2012
• Expiry date: May 8, 2030

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40298
• WIPO field: Control
• WIPO sector: Instruments

Abstract

The present application provides a system for enabling instrument placement from distances on the order of five meters, for example, and increases accuracy of the instrument placement relative to visually-specified targets. The system provides precision control of a mobile base of a rover and onboard manipulators (e.g., robotic arms) relative to a visually-specified target using one or more sets of cameras. The system automatically compensates for wheel slippage and kinematic inaccuracy ensuring accurate placement (on the order of 2 mm, for example) of the instrument relative to the target. The system provides the ability for autonomous instrument placement by controlling both the base of the rover and the onboard manipulator using a single set of cameras. To extend the distance from which the placement can be completed to nearly five meters, target information may be transferred from navigation cameras (used for long-range) to front hazard cameras (used for positioning the manipulator).