Multi-Vehicle Coordination via Redundant Sensor Fusion
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Solution Overview
Problem
Current systems for coordinating multiple vehicles, especially in agricultural and construction settings, face challenges with accurate navigation and management due to errors in location sensing devices and interference in communication systems, leading to inefficiencies and safety concerns.
Innovation Solution
A high integrity vehicle coordination system that includes a machine controller, steering, propulsion, braking, sensor, and communication systems, along with a library of machine behaviors, assigns roles to vehicles as leader or follower based on initial placement and environmental factors, using redundant sensors and communication channels to ensure fault-tolerant operation and obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If location sensing devices and communication systems are used for vehicle coordination, then vehicle coordination capability is improved, but measurement precision and reliability deteriorate due to errors and interference
Solution Approach 1:
The patent combines multiple location sensing devices (GPS, inertial sensors, wheel encoders) and multiple communication channels (wireless transceivers, wired connections) into an integrated coordination system. This merging allows the system to cross-validate data from multiple sources, compensating for individual sensor errors and communication interference through redundancy and data fusion algorithms.
Solution Approach 2:
The system implements beforehand cushioning by incorporating redundant sensing and communication pathways that are activated when primary systems experience errors or interference. Error detection and correction mechanisms are built into the coordination algorithm to compensate for anticipated measurement deviations and communication disruptions before they compromise vehicle coordination.
2Reliability
If redundant sensors and communication channels are implemented, then reliability is improved, but device complexity increases
Solution Approach 1:
The patent designs the coordination system with multi-functional components that serve multiple purposes. The same sensor suite and communication infrastructure are used for both primary vehicle coordination and redundant error compensation. The coordination controller performs both task management and fault detection functions, reducing the need for separate dedicated redundant components and thereby limiting the increase in overall system complexity.
3Productivity
If role assignment based on initial placement is used, then coordination efficiency is improved, but adaptability to environmental changes deteriorates
Solution Approach 1:
The patent implements dynamic role assignment that evolves from static initial placement to adaptive reassignment based on real-time environmental conditions. Vehicles are initially assigned roles based on their starting positions to ensure quick coordination efficiency, but the system continuously monitors environmental changes and dynamically reassigns roles when obstacles, terrain variations, or task requirements change, thereby maintaining both efficiency and adaptability throughout operation.
Data Source
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AI summary
A method and apparatus for controlling and coordinating multiple vehicles is described in which machine behaviors are assigned to multiple vehicles performing a task. The vehicles are coordinated to perform the task using the assigned behaviors and a number of signals received from other vehicles and the environment during performance of the task. A role is identified for each vehicle in a group of vehicles. A number of machine behaviors are assigned to each vehicle depending upon the identified role for the vehicle. The machine behaviors are selected from coordinating machine behaviors stored in a behavior library. Each vehicle is then coordinated to perform the task according to the role and machine behaviors assigned.