A method of detecting an intent of spatial control of a vehicle involves receiving spatial motion data representative of a desired motion of at least a portion of a vehicle that is generated from a gesture with respect to a global reference frame. An initial desired velocity representing a desired linear velocity or a desired angular velocity of at least the portion of the vehicle is computed from the spatial motion data. The initial desired velocity is transformed from the global reference frame into a control reference frame. A nearest principal axis direction is identified based on comparing a direction of the initial desired velocity with a set of principal axis directions. A misalignment angle that represents a deviation in direction of the initial desired velocity from the nearest principal axis direction is calculated. Upon determining that the misalignment angle is less than or equal to an axis-snapping tolerance value, a final desired velocity is defined by rotating the initial desired velocity such that the final desired velocity is parallel to the nearest principal axis direction.
SYSTEMS AND METHODS OF REMOTE TELEOPERATION OF ROBOTIC VEHICLES
SYSTEME UND VERFAHREN ZUR FERNFERNBEDIENUNG VON ROBOTISCHEN FAHRZEUGEN
SYSTÈMES ET PROCÉDÉS DE SURVEILLANCE À DISTANCE D'ÉQUIPEMENT
2022-08-10
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge / F41H Panzerung , ARMOUR / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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