Localized Navigation Controller for Obstacle-Aware GPS-Denied Machines
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Solution Overview
Problem
Power machines, such as work vehicles, face challenges in operating autonomously in environments where global positioning satellite signals are not available, particularly in areas with obstructions that prevent GPS navigation.
Innovation Solution
The implementation of a system that includes a localization controller and an augmented operation controller, which use software, firmware, or a combination of both to identify the power machine's position and obstacles within a localized positioning environment, creating a path to a desired destination and controlling the machine to navigate autonomously or with augmented control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS navigation is used for autonomous control, then navigation accuracy is improved, but the system cannot operate in environments with satellite signal obstructions
Solution Approach 1:
The navigation system is segmented into multiple independent positioning subsystems: GPS satellite-based positioning and localized positioning systems (such as UWB, WiFi, or infrared-based systems). Each subsystem operates independently within its effective range, allowing the vehicle to switch between them based on environmental conditions, thus maintaining navigation accuracy across diverse environments.
Solution Approach 2:
The control system is designed with multi-functionality to support both GPS-based autonomous navigation and localized positioning-based navigation. The system can automatically detect signal availability and switch between positioning methods, making it universally applicable in both open environments with satellite coverage and confined environments without satellite signals.
2Adaptability or versatility
If localized positioning system is used in GPS-denied environments, then environmental adaptability is improved, but navigation precision may be reduced compared to GPS
Solution Approach 1:
The system merges multiple localized positioning technologies (such as UWB time-of-flight measurement, WiFi signal strength analysis, and infrared triangulation) into a unified positioning framework. By combining the strengths of different positioning methods, the system achieves higher precision than any single method could provide alone, while maintaining adaptability to various indoor and confined environments.
Solution Approach 2:
Positioning tags are deployed throughout the environment as intermediary reference points. These tags emit signals that the vehicle's receiver can detect and use to calculate its position. The tags act as intermediaries between the vehicle and the positioning system, enabling accurate localization without direct satellite contact by creating a distributed reference network within the confined space.
3Reliability
If autonomous control system is implemented, then operational safety is improved, but system complexity increases
Solution Approach 1:
The autonomous control system incorporates self-service capabilities through automated obstacle detection, path planning, and collision avoidance functions. Sensors continuously scan the environment, automatically identify obstacles, and the control algorithm autonomously adjusts the vehicle's trajectory without human intervention, maintaining safety while managing complexity through automation of routine decision-making processes.
Solution Approach 2:
The system implements continuous feedback loops where sensors monitor the vehicle's position, speed, and surrounding environment in real-time. This feedback is processed by the control algorithm, which adjusts control commands to maintain safe operation. The feedback mechanism enables the system to respond dynamically to changing conditions, ensuring safety while managing complexity through adaptive control rather than overly complex predetermined logic.
Data Source
AI summary
Disclosed are power machines and systems configured to provide autonomous or augmented control of the machines in a localized positioning environment in which GPS navigation is not available. Also disclosed are methods of providing augmented control of a power machine in such an environment.