Systems and methods for obstacle avoidance

摘要

Embodiments of the invention provide systems and methods for obstacle avoidance. In some embodiments, a robotically controlled vehicle capable of operating in one or more modes may be provided. Examples of such modes include teleoperation, waypoint navigation, follow, and manual mode. The vehicle may include an obstacle detection and avoidance system capable of being implemented with one or more of the vehicle modes. A control system may be provided to operate and control the vehicle in the one or more modes. The control system may include a robotic control unit and a vehicle control unit.

主权项

1. A method for controlling a robotic vehicle using an obstacle map, the method comprising:
obtaining, by a processor, a first plurality of points, wherein each point represents at least part of an obstacle and a position of the obstacle at a particular time, wherein obtaining the first plurality of points includes three-dimensional, time-stamped obstacle data from a laser scanner; comparing, by the processor, the three-dimensional, time-stamped obstacle data to pre-set criteria to separate the three-dimensional, time-stamped obstacle data into relevant obstacle data and irrelevant obstacle data, wherein the irrelevant obstacle data is outside the pre-set criteria; discarding, by the processor, the irrelevant obstacle data; correlating, by the processor, the relevant obstacle data to a two-dimensional point cloud representing an index of a point array; filtering, by the processor, the two-dimensional point cloud in removing the relevant obstacle data having a position beyond a pre-set length from the robotic vehicle; generating, by the processor, a two-dimensional obstacle map based at least in part on the point array; and controlling, by the processor, the robotic vehicle based on the two-dimensional obstacle map.