CPC A61G 5/04 (2013.01) [A61G 5/061 (2013.01); A61G 5/1089 (2016.11); B60L 15/025 (2013.01); B60L 15/10 (2013.01); B60L 15/20 (2013.01); B60T 7/102 (2013.01); B60W 10/08 (2013.01); B60W 10/20 (2013.01); B60W 30/09 (2013.01); B60W 30/143 (2013.01); B62K 11/007 (2016.11); G01M 1/122 (2013.01); G05B 13/048 (2013.01); G05D 1/0274 (2013.01); A61G 2203/36 (2013.01); B60K 1/04 (2013.01); B60K 7/0007 (2013.01); B60L 2200/34 (2013.01); B60L 2220/16 (2013.01); B60L 2240/16 (2013.01); B60L 2240/423 (2013.01); B60L 2240/461 (2013.01); B60W 2300/38 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2520/16 (2013.01); B60W 2520/18 (2013.01); B60W 2530/10 (2013.01); B60W 2554/00 (2020.02); B60W 2710/083 (2013.01); B60W 2720/106 (2013.01); B60W 2720/24 (2013.01); B60Y 2200/84 (2013.01); Y02T 10/64 (2013.01); Y02T 10/72 (2013.01)] | 21 Claims |
1. A method for controlling speed of a mobility device, the mobility device including a plurality of wheels, at least one cluster assembly, and a plurality of sensors, the method comprising:
receiving terrain and obstacle detection data from the plurality of sensors;
mapping terrain and obstacles, if any, in real time based at least on terrain and obstacle detection data;
computing collision-possible areas, if any, based at least on the mapped data;
computing slow-down areas if any, based at least on the mapped data and the speed of the mobility device;
receiving user preferences, if any, with respect to the slow-down areas and desired direction and speed of motion;
computing movement commands to command the plurality of wheels based at least on the collision possible areas, the slow-down areas, and the user preferences; and
providing the movement commands to the plurality of wheels.
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