Traffic management system for a passageway environment

A global position and orientation estimation system for a passageway environment comprising

• one or more odometric sensors, one or more range-sensing devices, and a microprocessor including memory storage, said one or more odometric sensors and one or more range-sensing devices being connected to said microprocessor;
• and
• means for moving the system throughout said passageway environment, said microprocessor being programmed for
• i) simultaneously logging raw data from sensors including scans from said one or more range-sensing devices and said one or more odometric sensors, determining the acquisition times of all raw data, and storing said raw data and acquisition times in said microprocessor memory storage as said system is simultaneously moved throughout said passageway environment
• ii) pre-processing said logged data to obtain estimates of the system's positions and orientations during the logging process
• iii) storing said logged and pre-processed data to a log file in said microprocessor memory storage
• iv) creating a globally consistent map of said passageway environment from said logged and pre-processed data and storing said globally consistent map in said microprocessor memory storage, and
• v) repeatedly determining the global position and orientation of the system, in real time, as it is propelled through said passageway environment, using said one or more range-sensing devices, said one or more odometric sensors, said microprocessor, and said globally consistent map of said passageway environment stored in said microprocessor memory storage.

A traffic management method for one or more vehicles located in a passageway environment, the vehicles each being equipped with one or more odometric sensors, one or more range-sensing devices, and a microprocessor including memory storage, said one or more odometric sensors and one or more range-sensing devices being connected to said microprocessor, a central microprocessor being connected to said one or more vehicles by way of a wireless data communications system, and said method comprising the steps of:

• a) generating strategic route plans for said one or more vehicles;
• b) estimating global positions and orientations of said one or more vehicles in said passageway environment, wherein said step of estimating the global position and orientation of a vehicle in a passageway environment includes the steps of
• i) moving the vehicle throughout said passageway environment while simultaneously logging raw data from sensors including scans from said one or more range-sensing devices and said one or more odometric sensors, determining the acquisition times of all raw data, and storing said raw data and acquisition times in said microprocessor memory storage
• ii) pre-processing said logged data to obtain estimates of the vehicle's positions and orientations during the logging process
• iii) storing said logged and pre-processed data to a log file in said microprocessor memory storage
• iv) creating a globally consistent map of said passageway environment from said logged and pre-processed data and storing said globally consistent map in said microprocessor memory storage, and
• v) repeatedly determining the global position and orientation of the vehicle, in real time, as it is propelled through said passageway environment, using said one or more range-sensing devices, said one or more odometric sensors, said microprocessor, and said globally consistent map of said passageway environment stored in said microprocessor memory storage;
• and
• c) monitoring the global position and orientation of said one or more vehicles in said passageway environment as said one or more vehicles progress along said strategic route plans.

A method for estimating the global position and orientation of a vehicle in a passageway environment, the vehicle being equipped with one or more odometric sensors, one or more range-sensing devices, and a microprocessor including memory storage, said one or more odometric sensors and one or more range-sensing devices being connected to said microprocessor, and said method including the steps of

• a) estimating the global position and orientation of the vehicle in a passageway environment by the steps of
• i) moving the vehicle throughout said passageway environment while simultaneously logging raw data from sensors including scans from said one or more range-sensing devices and said one or more odometric sensors, determining the acquisition times of all raw data, and storing said raw data and acquisition times in said microprocessor memory storage
• ii) pre-processing said logged data to obtain estimates of the vehicle's positions and orientations during the logging process
• iii) storing said logged and pre-processed data to a log file in said microprocessor memory storage
• iv) creating a globally consistent map of said passageway environment from said logged and pre-processed data and storing said globally consistent map in said microprocessor memory storage, and
• v) repeatedly determining the global position and orientation of the vehicle, in real time, as it is propelled through said passageway environment, using said one or more range-sensing devices, said one or more odometric sensors, said microprocessor, and said globally consistent map of said passageway environment stored in said microprocessor memory storage.