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    Autonomously guiding vehicles through orifices

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    U.S. 10,569,876 (1.888Mb)
    Date
    2020-02-25
    Author
    Chakravarthy, Animesh
    Ghose, Debasish
    Metadata
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    Citation
    Chakravarthy, Animesh; Ghose, Debasish, inventors. Wichita State University, assignee. Autonomously guiding vehicles through orifices. United States patent U.S. 10,569,876. 2020, Feb. 25.
    Abstract
    This document generally describes a safe-passage guidance strategy developed in a relative velocity framework to enable a generic aerial robot execute a precision three-dimensional maneuver through a narrow orifice in a wall. The relative sizes of the robot and the orifice can be such that the orifice is only slightly larger than the robot. The orifice can be approximated as an elliptical shape, and analytical nonlinear guidance laws incorporating state-based switching can be derived. Guidance laws can be used to maneuver the robot through both fixed and moving orifices as well as in scenarios when the orifice is closing with time.
    Description
    WSU inventors: Animesh Chakravarthy, Debasish Ghose, Dept. of Electrical Engineering and Computer Science, College of Engineering

    Application No. 15/925,312 filed Mar. 19, 2018. Patent No: U.S. 10,569,876 granted Feb. 25, 2020
    URI
    https://patentimages.storage.googleapis.com/ba/cc/b5/df1c04907c8a52/US10569876.pdf
    http://hdl.handle.net/10057/17170
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