Automated sensor platform routing and tracking for observing a region of interest while avoiding obstacles
US9418560B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 7, 2015 |
| Grant date | Aug 16, 2016 |
| Priority date | — |
| Expiry date | Apr 7, 2035 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB64U2201/10
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A path is automatically routed for a sensor platform that projects a constant sensor footprint to the surface to observe a region of interest without crossing into an excluded area and to tracking that path. The path is routed by defining a bounding region around the region of interest and defining a convex hull around an obstacle within the region of interest. A parallel arrangement of rectangular planks is generated from each edge of the convex hull out to the bounding region. The extent of each rectangular plank is bounded at one end by the intersection of the plank with the bounding region and at the other end by the intersection of the plank with an extension of a next edge of the convex hull. The path is routed to traverse the parallel arrangement of rectangular planks for each edge of the convex hull in a raster scan pattern and to circle the convex hull in a clockwise or counter-clockwise direction. The path is tracked and the surface below sensed to capture a sequence of sensor outputs that together cover the entire region of interest except the region excluded by the convex hull.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.