# US 9,911,346 B2 · Unmanned vehicle, system and method for correcting a trajectory of an unmanned vehicle

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- Number: US 9,911,346 B2
- Document ID: US9911346B2
- Status: Granted
- Kind: B2
- Application number: 15/206,216
- Filed: 2016-07-08
- Published: 2017-08-10
- Granted: 2018-03-06
- Earliest claimed: 2016-02-04
- Assignees: Proxy Technologies, Inc.
- Applicants: Proxy Technologies, Inc.
- Inventors: John Klinger; Patrick C. Cesarano
- Web page: https://patentgrep.com/patent/US9911346B2

## CPC

- G05D 1/104: {involving a plurality of aircrafts, e.g. formation flying (traffic control systems for aircraft G08G5/00)}
- G06V 20/17: taken from planes or by drones
- G01S 7/006: {using shared front-end circuitry, e.g. antennas (G01S13/765, G01S13/825 take precedence)}
- G01S 13/02: Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S 19/13: Receivers
- G05B 13/024: {in which a parameter or coefficient is automatically adjusted to optimise the performance}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)}
- G05D 1/0027: {involving a plurality of vehicles, e.g. fleet or convoy travelling (fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00)}
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G05D 1/02: Control of position or course in two dimensions
- G05D 1/0202: {specially adapted to aircraft}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G06V 20/176: {Urban or other man-made structures}
- G08G 5/80: Anti-collision systems
- G08G 9/02: Anti-collision systems
- H01Q 3/26: varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture ({H01Q3/12,} H01Q3/22, H01Q3/24 take precedence)
- H01Q 3/2617: {Array of identical elements}
- H01Q 3/28: varying the amplitude
- H01Q 3/36: with variable phase-shifters
- H04B 7/0617: {for beam forming}
- H04B 7/18506: {Communications with or from aircraft, i.e. aeronautical mobile service}
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U 2201/102: adapted for flying in formations
- B64U 2201/20: Remote controls
- G01S 13/06: Systems determining position data of a target
- G01S 2013/0254: {Active array antenna}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- 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})
- H01Q: ANTENNAS, i.e. RADIO AERIALS (radiators or antennas for microwave heating H05B6/72)
- H04B: TRANSMISSION
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

Some embodiments are directed to an unmanned vehicle for use with a companion unmanned vehicle. The unmanned vehicle includes a position unit that is configured to determine a current position of the unmanned vehicle. The unmanned vehicle includes a memory unit that is configured to store a planned path of the unmanned vehicle. The unmanned vehicle includes a control unit that is configured to determine that the unmanned vehicle is off-course based on the current position of the unmanned vehicle and the planned path assigned to the unmanned vehicle, generate a delay and a corrected path for the unmanned vehicle, and communicate the delay and the corrected path to the companion unmanned vehicle. The control unit is further configured to control a movement of the unmanned vehicle along the corrected path after the delay.

## Claims

### Claim 1

A method of controlling an unmanned vehicle for use with a companion unmanned vehicle, the unmanned vehicle being operatively coupled to a controller, comprising:
determining, by the controller, a current position of the unmanned vehicle;
determining, by the controller, that the unmanned vehicle is off-course based on at least a difference of the current position and a planned path of the unmanned vehicle;
generating, by the controller, a delay and a corrected path for the unmanned vehicle;
communicating, by the controller, at least the delay and the corrected path to the companion unmanned vehicle; and
controlling, by the controller, a movement of the unmanned vehicle such that the unmanned vehicle moves along the corrected path after the delay,
wherein the delay is a time delay, which provides the unmanned vehicle with a period of time before a change is initiated in the first trajectory of the unmanned vehicle to a second trajectory, and
wherein the time delay is at one of an indefinite delay, a predetermined time delay and specific time period delay before the change is initiated so that the unmanned vehicle travels along the corrected path absent any interruptions.

### Claim 2 (depends on 1)

The method of claim 1, further comprising:
determining, by the controller, a planned position of the unmanned vehicle based on the planned path;
comparing, by the controller, the planned position based on the planned path with the current position of the unmanned vehicle;
determining, by the controller, that the unmanned vehicle is off-course based on the comparison between the planned position and the current position.

### Claim 3 (depends on 1)

The method of claim 1, further comprising generating the corrected path based on at least the difference between the planned position and the current position.

### Claim 4 (depends on 1)

The method of claim 1, wherein the delay is a time period between determination that the unmanned vehicle is off-course and commencement of travel on the corrected path.

### Claim 5 (depends on 1)

The method of claim 1, further comprising:
generating, by the controller, an intermediate path based on at least the current position and the corrected path; and
controlling, by the controller, the movement of the unmanned vehicle such that the unmanned vehicle moves along the intermediate path during the delay.

### Claim 6 (depends on 1)

The method of claim 1, further comprising:
receiving, by the controller, a planned path of the companion unmanned vehicle; and
generating the delay based on at least the current position of the unmanned vehicle and the planned path of the companion unmanned vehicle.

### Claim 7 (depends on 1)

The method of claim 1, further comprising controlling, by the controller, the movement of the unmanned vehicle during the delay in order to impede a collision with the companion unmanned vehicle.

### Claim 8 (depends on 1)

The method of claim 1, wherein the corrected path is the planned path or a new path distinct from the planned path.

### Claim 9

An unmanned vehicle for use with a companion unmanned vehicle, comprising:
a position unit that is configured to determine a current position of the unmanned vehicle;
a memory unit that is configured to store a planned path of the unmanned vehicle; and
a control unit disposed in communication with the position unit and the memory unit, the control unit configured to:
determine that the unmanned vehicle is off-course based on at least a difference of the current position of the unmanned vehicle and the planned path assigned to the unmanned vehicle;
generate a delay and a corrected path for the unmanned vehicle;
communicate at least the delay and the corrected path to the companion unmanned vehicle; and
control a movement of the unmanned vehicle such that the unmanned vehicle moves along the corrected path after the delay,
wherein the delay is a time delay, which provides the unmanned vehicle with a period of time before a change is initiated in the first trajectory of the unmanned vehicle to a second trajectory, and
wherein the time delay is at one of an indefinite delay, a predetermined time delay and specific time period delay before the change is initiated and the unmanned vehicle travels along the corrected path absent any interruptions.

### Claim 10 (depends on 9)

The unmanned vehicle of claim 9, further comprising a communication unit that is configured to receive a planned path of a companion unmanned vehicle, wherein the control unit is further configured to generate the delay based on at least the planned path of the companion unmanned vehicle and the current position of the unmanned vehicle.

### Claim 11 (depends on 9)

The unmanned vehicle of claim 9, wherein the control unit is further configured to:
determine a planned position of the unmanned vehicle based on the planned path;
compare the planned position based on the planned path with the current position of the unmanned vehicle; and
determine that the unmanned vehicle is off-course based on the comparison between the planned position and the current position.

### Claim 12 (depends on 11)

The unmanned vehicle of claim 11, wherein the control unit is further configured to generate the corrected path based on at least the difference between the planned position and the current position.

### Claim 13 (depends on 9)

The unmanned vehicle of claim 9, wherein the delay is a time period between determination that the unmanned vehicle is off-course and commencement of travel on the corrected path.

### Claim 14 (depends on 9)

The unmanned vehicle of claim 9, wherein the control unit is further configured to:
generate an intermediate path based on at least the current position and the corrected path; and
control the movement of the unmanned vehicle such that the unmanned vehicle moves along the intermediate path during the delay.

### Claim 15 (depends on 9)

The unmanned vehicle of claim 9, wherein the control unit is further configured to control the movement of the unmanned vehicle during the delay in order to impede a collision with the companion unmanned vehicle.

### Claim 16 (depends on 9)

The unmanned vehicle of claim 9, further comprising a detection unit that is configured to detect an obstacle, wherein the control unit is further configured to control the movement of the unmanned vehicle in order to impede a collision with the obstacle.

### Claim 17 (depends on 9)

The unmanned vehicle of claim 9, wherein the unmanned vehicle is one of an unmanned aerial vehicle, an unmanned terrestrial vehicle, an unmanned aquatic vehicle, an unmanned space vehicle, and an optionally manned vehicle.

### Claim 18

A system, comprising:
a plurality of unmanned vehicles spaced from each other, each of the plurality of unmanned vehicles including:
a position unit configured to determine a current position of the unmanned vehicle; and
a memory unit configured to store a planned path of the unmanned vehicle; and
a controller disposed in communication with the each of the plurality of unmanned vehicles, the controller configured to:
receive the current position and the planned path of each of the plurality of unmanned vehicles;
determine that at least one unmanned vehicle is off-course based on at least a difference of the current position and the planned path of each of the plurality of unmanned vehicles;
generate a delay and a corrected path for the at least one unmanned vehicle;
communicate at least the delay and the corrected path to each of the plurality of unmanned vehicles; and
control a movement of the at least one unmanned vehicle such that the at least one unmanned vehicle moves along the corrected path after the delay,
wherein the delay is a time delay, which provides the unmanned vehicle with a period of time before a change is initiated in the first trajectory of the unmanned vehicle to a second trajectory, and
wherein the time delay is at one of an indefinite delay, a predetermined time delay and specific time period delay before the change is initiated and the unmanned vehicle travels along the corrected path absent any interruptions.

### Claim 19 (depends on 18)

The system of claim 18, wherein the controller is further configured to:
generate an intermediate path based on at least the current position and the corrected path of the at least one unmanned vehicle; and
control the movement of the at least one unmanned vehicle such that the at least one unmanned vehicle moves along the intermediate path during the delay.

### Claim 20 (depends on 18)

The system of claim 18, wherein the controller is further configured to:
determine a planned position of the at least one unmanned vehicle based on the planned path; and
generate the corrected path based at least on a difference between the planned position and the current position of the at least one unmanned vehicle.