Methods and apparatus to cooperatively lift a payload

摘要

Methods and apparatus to cooperatively lift a payload are disclosed. An example method to control a lift vehicle includes determining a first positional state of the lift vehicle with respect to a payload controlled by a plurality of lift vehicles including the lift vehicle, determining a second positional state of the lift vehicle with respect to a goal location, detecting distances to the other ones of the plurality of lift vehicles, determining a third positional state of the lift vehicle based on the distances to the other ones of the plurality of lift vehicles, and calculating a control command to control the lift vehicle based on the first positional state, the second positional state, and the third positional state.

主权项

1. A method to control a lift vehicle, comprising:
determining, using a processor of the lift vehicle, a first positional state of the lift vehicle with respect to a payload controlled by a plurality of lift vehicles including the lift vehicle; determining, using the processor, a second positional state of the lift vehicle with respect to a goal location; detecting, using a sensor of the lift vehicle, distances to other ones of the plurality of lift vehicles; determining, using the processor, a third positional state of the lift vehicle based on the distances to the other ones of the plurality of lift vehicles, wherein determining the first positional state, determining the second positional state, and determining the third positional state are independent of any communications with other ones of the plurality of lift vehicles or with any control systems external to the lift vehicle; and calculating a control command to control the lift vehicle based on the first positional state, the second positional state, and the third positional state.