Loading...
Autonomously guiding vehicles through orifices
Chakravarthy, Animesh Ghose, Debasish
Chakravarthy, Animesh
Ghose, Debasish
Citations
Altmetric:
Files
Loading...
U.S. 10,569,876
Adobe PDF, 1.89 MB
Authors
Other Names
Location
Time Period
Advisors
Original Date
Digitization Date
Issue Date
2020-02-25
Type
Patent
Genre
Keywords
Subjects (LCSH)
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.
Table of Contents
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
Application No. 15/925,312 filed Mar. 19, 2018. Patent No: U.S. 10,569,876 granted Feb. 25, 2020
Publisher
United States Patent and Trademark Office
Journal
Book Title
Series
Digital Collection
Finding Aid URL
Use and Reproduction
Status: Active; Adjusted expiration: 2038-08-17