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Patent 7957858 Click For Printable Version of This Patent
Patent Information:  USPTO Site Listing

Patent Number: 7957858
Case ID: 0
Patent Title: Method for determining projected obstacle areas for moving obstacles
Status: ACTIVE
Status Date: 12/2/2011 12:54:09 PM
Issue Date: 6/7/2011
Filed Date: 2/25/2008
Serial #: 2/036,441
Assignee Name: The United States of America as represented by the Secretary of the Navy (Washington, DC)
Inventor(s): Larson, Jacoby R. , Bruch, Michael H.
Lab Information:  View Lab Profile

Lab Name: SPAWAR Systems Center, Pacific
Location: 53560 Hull Street
San Diego, CA 92152-5001
Contact: Contact Lab About This Patent
   
Description:
CROSS REFERENCE TO RELATED APPLICATIONS

This application is related to U.S. Non-provisional patent application Ser. No. 11/956,209, filed Dec. 13, 2007, entitled "Obstacle Avoidance System and Method", the content of which is fully incorporated by reference herein.

BACKGROUND

Typical obstacle avoidance systems and methods do not determine routes using information about moving obstacles, as it is difficult to plan around an obstacle occupying different locations at different times. There is a current need for a system and method that can determine the projected location of moving obstacles.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a diagram of time-elapsed positions of a vehicle on a vehicle path and a moving obstacle on an obstacle path, in accordance with one embodiment of the Method for Determining Projected Obstacle Areas for Moving Obstacles.

FIG. 2 shows a diagram illustrating the determination of the points required fo . . . . More
Abstract:
A method involves calculating a closest point of approach (CPA) between a vehicle and a moving obstacle, determining the CPA is within a pre-determined distance from the vehicle at a point in time along the vehicle path, calculating a projected obstacle area (POA) for the moving obstacle, and modifying the vehicle path so the vehicle avoids the POA. The POA is a polygonal region between the boundaries calculated by determining a first point in time along the obstacle path that the moving obstacle is within the pre-determined distance, determining a second point in time along the obstacle path that the moving obstacle is within the pre-determined distance, creating a first line on one side of a midpoint line based upon a pre-determined angle of uncertainty, and creating a second line on the other side of the midpoint line based upon the pre-determined angle of uncertainty.
Claims:
We claim:

1. A method comprising the steps of: determining a closest point of approach between a vehicle traveling along a vehicle path and at least one moving obstacle traveling along an obstacle path, the vehicle path having more than one vehicle path segments, the closest point of approach being along the obstacle path, the vehicle having a vehicle heading and a vehicle velocity and the moving obstacle having an obstacle heading and an obstacle velocity; determining that the closest point of approach is within a pre-determined distance from the vehicle at a point in time along the vehicle path; determining a projected obstacle area for the moving obstacle, the determination comprising determining a first point in time along the obstacle path that the moving obstacle is within the pre-determined distance from the vehicle, the first point in time being farther from the vehicle than the closest point of approach, determining a second point in time along the obstacle path tha . . . . More