Autonomous behaviors for a remove vehicle

摘要

A system and method for allowing an operator to switch between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors, or for implementing remote vehicle autonomous behaviors. The system comprises an operator control system receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior, and a control system on the remote vehicle for receiving the instruction to execute an autonomous behavior from the operator control system. Upon receiving the instruction to execute an autonomous behavior, the remote vehicle executes that autonomous behavior.

主权项

1. A system for managing control of two or more remote vehicle autonomous behaviors, the system comprising:
an operator control system receiving input from the operator including instructions for the remote vehicle to execute a requested autonomous behavior; a control system on the remote vehicle for receiving the instructions to execute the requested autonomous behavior from the operator control system and comprising an arbiter, wherein the requested autonomous behavior sends a vote to the arbiter requesting control of one or more actuators on the remote vehicle configured to perform the requested autonomous behavior and, if the requested autonomous behavior has a higher priority than any executing behavior currently in control of one or more of the actuators, the requested autonomous behavior can execute, and wherein the requested autonomous behavior is not permitted to execute if actions to be performed by the requested autonomous behavior are incompatible with any executing behavior.