# US 2014/0195095 A1 · Autonomous navigation system and method for a maneuverable platform > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195095 A1 - Document ID: US20140195095A1 - Status: Published application - Kind: A1 - Application number: 14/108,475 - Filed: 2013-12-17 - Published: 2014-07-10 - Earliest claimed: 2008-12-30 - Assignees: Elbit Systems Ltd. - Applicants: Elbit Systems Ltd. - Inventors: Myriam FLOHR; Gilad STEINER; Inon BEN ZUR - Web page: https://patentgrep.com/patent/US20140195095A1 ## CPC - G05D 1/02: Control of position or course in two dimensions - G05D 1/0011: {associated with a remote control arrangement} - G05D 1/0202: {specially adapted to aircraft} - G05D 1/0206: {specially adapted to water vehicles} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An autonomous navigation system and method for a maneuverable platform are provided herein. The method may include: obtaining a plurality of objectives relating to a maneuverable platform; determining a plurality of options of direction and speed for the platform; autonomously selecting, one option of the plurality of options, in order to achieve said objectives, by calculating a weighted grade of each option based on the weights of the objectives and said grading scheme; and periodically repeating: the receiving with updated platform and obstacles data and the autonomously selecting with the updated platform and obstacles data, wherein the autonomously selecting is executed by a computer processor and includes, for each obstacle, calculating projected positions of the platform and of that obstacle to determine the distance between the platform and the obstacle at the closest point of approach and estimated time to arrive to the closest point of approach. ## Claims ### Claim 1 A method comprising: obtaining a plurality of objectives relating to a maneuverable platform, wherein the objectives comprise mission related and non-mission related objectives and wherein the objectives are weighted in accordance with a grading scheme; receiving platform and obstacles data relating to at least one of: position, speed, and direction of said platform and of obstacles; determining a plurality of options of direction and speed for the platform; autonomously selecting, one option of the plurality of options, in order to achieve said objectives, by calculating a weighted grade of each option based on the weights of the objectives and said grading scheme; and periodically repeating: (a) the receiving with updated platform and obstacles data and (b) the autonomously selecting with the updated platform and obstacles data, wherein the autonomously selecting is executed by a computer processor and includes, for each obstacle, calculating projected positions of the platform and of that obstacle to determine the distance between the platform and the obstacle at the closest point of approach and estimated time to arrive to the closest point of approach, and determining, with respect to an early reaction time and an avoidance distance suitable for that obstacle and the platform, whether that distance is smaller or greater than the avoidance distance. ### Claim 2 (depends on 1) The method according to claim 1, wherein the repeating further comprising at least one of: the obtaining and the determining. ### Claim 3 (depends on 1) The method according to claim 1, wherein the grading scheme is generated so that at least some objectives are graded, for at least part of the time so that other objectives are neglected in the autonomous selection stage. ### Claim 4 (depends on 1) The method according to claim 1, further comprising maneuvering the platform and commanding drive controls of the platform to apply the autonomously selected direction and speed of the option for the platform. ### Claim 5 (depends on 1) The method according to claim 1, wherein said objectives are selected from a group of objectives including: conforming to traffic rules, avoiding collisions with other obstacles, maintaining a speed within a predefined range, avoiding substantial speed changes, avoiding substantial direction changes, making a noticeable direction change, performing the mission according to plan and fulfilling the mission. ### Claim 6 A system comprising: a situation awareness module configured to receive platform and obstacles data relating to at least one of: position, speed, and direction of said platform and of obstacles; and a decision module configured to: obtain a plurality of objectives relating to a maneuverable platform, wherein the objectives comprise mission related and non-mission related objectives and wherein the objectives are weighted in accordance with a grading scheme; determine a plurality of options of direction and speed for the platform; autonomously select, one option of the plurality of options, in order to achieve said objectives, by calculating a weighted grade of each option based on the weights of the objectives and said grading scheme, wherein the selecting includes, for each obstacle, calculating projected positions of the platform and of that obstacle to determine the distance between the platform and the obstacle at the closest point of approach and estimated time to arrive to the closest point of approach, and determining, with respect to an early reaction time and an avoidance distance suitable for that obstacle and the platform, whether that distance is smaller or greater than the avoidance distance; and periodically repeat: the receiving with updated platform and obstacles data and the autonomously selecting with the updated platform and obstacles data. ### Claim 7 (depends on 6) The system according to claim 6, wherein the repeating further comprising at least one of: the obtaining and the determining. ### Claim 8 (depends on 6) The system according to claim 6, wherein the grading scheme is generated so that at least some objectives are graded, for at least part of the time so that other objectives are neglected in the autonomous selection stage. ### Claim 9 (depends on 6) The system according to claim 6, further comprising maneuvering the platform and commanding drive controls of the platform to apply the autonomously selected direction and speed of the option for the platform. ### Claim 10 (depends on 6) The system according to claim 6, wherein said objectives are selected from a group of objectives including: conforming to traffic rules, avoiding collisions with other obstacles, maintaining a speed within a predefined range, avoiding substantial speed changes, avoiding substantial direction changes, making a noticeable direction change, performing the mission according to plan and fulfilling the mission.