# US 9,752,878 B2 · Unmanned aerial vehicle control handover planning > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,752,878 B2 - Document ID: US9752878B2 - Status: Granted - Kind: B2 - Application number: 14/953,978 - Filed: 2015-11-30 - Published: 2016-06-09 - Granted: 2017-09-05 - Earliest claimed: 2014-12-09 - Assignees: Sikorsky Aircraft Corporation - Applicants: Sikorsky Aircraft Corporation - Inventors: James S. Magson; Gary Howland; Cherry Cwalina - Web page: https://patentgrep.com/patent/US9752878B2 ## CPC - G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)} - G05D 1/104: {involving a plurality of aircrafts, e.g. formation flying (traffic control systems for aircraft G08G5/00)} - G05D 1/12: Target-seeking control - G05D 21/00: Control of chemical or physico-chemical variables, e.g. pH value - G08G 5/55: for a single aircraft - G08G 5/59: in accordance with predefined flight zones, e.g. to avoid prohibited zones - B64U 10/10: Rotorcrafts - B64U 2201/20: Remote controls - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract Control handover planning for an unmanned aerial vehicle (UAV) is provided that includes determining, by a planning system, a current location of a mobile control system and a current location of the UAV. A target location is identified. A control handover zone is determined based on a communication range constraint between the mobile control system and the UAV. The control handover zone is located between the current location of the mobile control system, the current location of the UAV, and the target location. A mobile control system path plan and a UAV path plan are created that each includes a control handover waypoint in the control handover zone at the same time. The control handover waypoint defines a planned location to place the mobile control system in control of the UAV. ## Claims ### Claim 1 A method of control handover planning for an unmanned aerial vehicle (UAV), the method comprising: determining, by a planning system, a current location of a mobile control system and a current location of the UAV; identifying a target location; determining a control handover zone based on a communication range constraint between the mobile control system and the UAV, the control handover zone located between the current location of the mobile control system, the current location of the UAV, and the target location; and creating a mobile control system path plan based on a location of the control handover zone and a UAV path plan based on the location of the control handover zone, wherein each of the mobile control system path plan and the UAV path plan includes a control handover waypoint in the control handover zone, the control handover waypoint defining a planned location to place the mobile control system in control of the UAV, wherein the mobile control system and the UAV are expected to reach their respective control handover waypoints at the same time. ### Claim 2 (depends on 1) The method of claim 1, further comprising: communicating the mobile control system path plan to a navigation system of the mobile control system. ### Claim 3 (depends on 1) The method of claim 1, further comprising: communicating the UAV path plan to a control station that controls the UAV prior to control handover. ### Claim 4 (depends on 3) The method of claim 3, wherein the mobile control system receives control of the UAV from the control station based on the mobile control system and the UAV reaching the control handover zone. ### Claim 5 (depends on 1) The method of claim 1, further comprising: determining path planning constraints comprising one or more avoidance zones; and creating the mobile control system path plan and the UAV path plan based on the path planning constraints. ### Claim 6 (depends on 1) The method of claim 1, further comprising: receiving an initial mobile control system path plan between the current location of the mobile control system and the target location; receiving an initial UAV path plan between the current location of the UAV and the target location; determining whether the initial mobile control system path plan and the initial UAV path plan meet the communication range constraint; and defining the control handover waypoint for the mobile control system and the control handover waypoint for the UAV based upon respective locations in one or more of the initial mobile control system path plan and the initial UAV path plan where the communication range constraint is expected to be met. ### Claim 7 (depends on 6) The method of claim 6, further comprising: adjusting one or more of the initial mobile control system path plan and the initial UAV path plan to form the mobile control system path plan and the UAV path plan based on determining that the initial mobile control system path plan and the initial UAV path plan do not meet the communication range constraint. ### Claim 8 (depends on 1) The method of claim 1, further comprising: periodically re-computing the mobile control system path plan and the UAV path plan as the mobile control system and the UAV are in motion; and based on re-computing the mobile control system path plan and the UAV path plan, determining whether a change in location or timing of the control handover waypoint for the mobile control system or the UAV results therefrom. ### Claim 9 (depends on 1) The method of claim 1, wherein creating the mobile control system path plan and the UAV path plan further comprises ensuring that the UAV is scheduled reach the target location prior to the mobile control system reaching the target location and after control of the UAV is scheduled to be transferred to the mobile control system. ### Claim 10 (depends on 1) The method of claim 1, wherein the planning system is onboard the mobile control system, the mobile control system comprises a helicopter, and the communication range constraint between the mobile control system and the UAV is based on line-of-sight communication between the mobile control system and the UAV. ### Claim 11 A planning system for control handover planning for an unmanned aerial vehicle (UAV), the planning system comprising: a processor; and memory having instructions stored thereon that, when executed by the processor, cause the planning system to: determine a current location of a mobile control system and a current location of the UAV: identify a target location; determine a control handover zone based on a communication range constraint between the mobile control system and the UAV, the control handover zone located between the current location of the mobile control system, the current location of the UAV, and the target location; and create a mobile control system path plan based on a location of the control handover zone and a UAV path plan based on the location of the control handover zone, wherein each of the mobile control system path plan and the UAV path plan includes a control handover waypoint in the control handover zone, the control handover waypoint defining a planned location to place the mobile control system in control of the UAV, wherein the mobile control system and the UAV are expected to reach their respective control handover waypoints at the same time. ### Claim 12 (depends on 11) The planning system of claim 11, wherein the instructions further cause the planning system to: communicate the mobile control system path plan to a navigation system of the mobile control system; and communicate the UAV path plan to a control station that controls the UAV prior to control handover. ### Claim 13 (depends on 11) The planning system of claim 11, wherein the instructions further cause the planning system to: determine path planning constraints comprising one or more avoidance zones; and create the mobile control system path plan and the UAV path plan based on the path planning constraints. ### Claim 14 (depends on 11) The planning system of claim 11, wherein the instructions further cause the planning system to: receive an initial mobile control system path plan between the current location of the mobile control system and the target location; receive an initial UAV path plan between the current location of the UAV and the target location; determine whether the initial mobile control system path plan and the initial UAV path plan meet the communication range constraint; define the control handover waypoint for the mobile control system and the control handover waypoint for the UAV based upon respective locations in one or more of the initial mobile control system path plan and the initial UAV path plan where the communication range constraint is expected to be met; and adjust one or more of the initial mobile control system path plan and the initial UAV path plan to form the mobile control system path plan and the UAV path plan based on determining that the initial mobile control system path plan and the initial UAV path plan do not meet the communication range constraint. ### Claim 15 (depends on 11) The planning system of claim 11, wherein the instructions further cause the planning system to: periodically re-compute the mobile control system path plan and the UAV path plan as the mobile control system and the UAV are in motion; and based on re-computation of the mobile control system path plan and the UAV path plan, determine whether a change in location or timing of the control handover waypoint for the mobile control system or the UAV results therefrom.