Unmanned vehicle, system and method for determining a planned path for unmanned vehicles

An unmanned vehicle, which includes a controller, comprising:

• a memory unit that is configured to store a planned path of the unmanned vehicle, the memory unit including at least one of a memory device, a Random Access Memory (RAM), and dynamic storage device;
• a position unit that is configured to determine a current position of the unmanned vehicle, the position unit further configured to determine a planned position of the unmanned vehicle based on the planned path stored in the memory unit, the position unit including:
• at least one of ranging tones, relative vehicle telemetry, optical imaging, radar, and global positioning system (GPS), corresponds to positioning software;
• a control unit disposed in communication with the position unit, the control unit, which includes at least one of software and hardware, configured to:
• determine an actual deviation of the unmanned vehicle, based on the planned position and the current position of the unmanned vehicle;
• and
• control a movement of the unmanned vehicle such that the unmanned vehicle continues to move along the planned path without corrective action if the actual deviation of the unmanned vehicle is less than at least two thresholds, wherein:
• the at least two thresholds are determined and based on:
• a first deviation parameter, which includes vehicle trajectory parameters, wherein the vehicle trajectory parameters include at least one of altitude, heading, speed, yaw, roll and pitch, and
• a second deviation parameter, which includes at least one environmental factors;
• and
• the controller is configured to utilize a time parameter associated with at least the first deviation parameter for assessment of deviation time;
• a communication unit that corresponds with the at least one of the software and the hardware of the control unit and communicates with a receiver, the communication unit including at least one of radio communications based on frequency spectrum and supporting infrastructure;
• and
• a sensor unit that transmits a signal to the control unit to convey at least one change in environmental factors, the sensor unit including at least one of a humidity sensor, a temperature sensor, a pressure sensor and other related sensors, wherein:
• the sensor unit is configured to detect the environmental factors which impact the unmanned vehicle,
• the control unit is configured to modify a value of at least one of said at least two predetermined thresholds based on the environmental factors, where the environmental factors include ambient weather conditions,
• the communication unit provides communication with at least one of a base station and a companion unmanned vehicle, wherein the communication unit includes the receiver configured to receive a signal from at least one of the companion unmanned vehicle and the base station, and
• the control unit is further configured to determine a signal deviation based on a predetermined parameter of the signal and a corresponding predetermined signal threshold, and control the movement of the unmanned vehicle such that the unmanned vehicle moves along the planned path if the signal deviation is less than the predetermined signal threshold.

A system, comprising:

• a plurality of unmanned vehicles spaced from each other, each of the plurality of unmanned vehicles including:
• a controller;
• a memory unit that is configured to store a planned path of the unmanned vehicle, the memory unit including at least one of a memory device, a Random Access Memory (RAM), and any dynamic storage device;
• a position unit that is configured to determine a current position of the unmanned vehicle, the position unit further configured to determine a planned position of the unmanned vehicle based on the planned path data stored in the memory unit, wherein the position unit, which including at least one of ranging tones, relative vehicle telemetry, optical imaging, radar, and global positioning system (UPS), corresponds to positioning software;
• and
• a control unit, in communication with the memory unit and the position unit, configured to:
• determine an actual deviation of at least one of the unmanned vehicles based on the planned position and the current position of the unmanned vehicle;
• if the deviation is at least one of greater than and equal to at least one of at least two thresholds, the control unit is configured to:
• determine a new planned path for the unmanned vehicle;
• communicate, by the controller, the new planned path to other companion unmanned vehicles;
• and
• control a movement of the unmanned vehicle such that the unmanned vehicle moves along the new planned path;
• and
• if the actual deviation of the unmanned vehicle is less than said at least two thresholds, the control unit is also configured to:
• control the movement of the unmanned vehicle such that the unmanned vehicle continues to move along the planned path without corrective action, and
• wherein the at least two thresholds are determined and based on:
• a first deviation parameter, which includes vehicle trajectory parameters, wherein the vehicle trajectory parameters include at least one of altitude, heading, speed, yaw, roll and pitch, and
• a second deviation parameter, which includes at least one environmental factors,
• provide for the controller to utilize a time parameter associated with at least the first deviation parameter for assessment of deviation time;
• receive, by a receiver of the unmanned vehicle, a signal from said at least one other companion unmanned vehicle;
• determine, by the controller, a signal deviation based on a predetermined parameter of the signal and a corresponding predetermined signal threshold;
• and
• control, by the controller, the movement of the unmanned vehicle such that the unmanned vehicle moves along the planned path if the signal deviation is less than the predetermined signal threshold.