Advanced behavior engine
US8571745B2 · kind B2 · utility
Inventors
Key dates
| Filing date | May 11, 2011 |
| Grant date | Oct 29, 2013 |
| Priority date | — |
| Expiry date | Jan 24, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0272
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method of generating a command for a remote vehicle controller by taking in goals and constraints compiled from behavior inputs and action models, and controlling resources by producing low-level actuator commands that realize goals expressed by the behaviors. The method comprises: executing a command based on a kinodynamic fixed depth motion planning (KFDMP) algorithm to plan paths with longer time horizons and to use incremental feedback from evaluators to select a best feasible course of action; and feeding the selected best feasible course of action as servo commands to a drive system or a manipulation system of the remote vehicle controller. The selected best feasible course of action comprises goal-achieving actions within a fixed time horizon of several seconds from the current time each time a course of action is selected.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.