US 12,189,386 B2
Systems and methods of detecting intent of spatial control
Matthew D. Summer, Melbourne, FL (US); William S. Bowman, Melbourne, FL (US); Andrew D. Falendysz, Grant, FL (US); Kevin M. Makovy, West Melbourne, FL (US); Daniel R. Hedman, Palm Bey, FL (US); and Bradley D. Truesdell, Indialantic, FL (US)
Assigned to Tomahawk Robotics, Inc., Melbourne, FL (US)
Filed by Tomahawk Robotics, Inc., Melbourne, FL (US)
Filed on Dec. 14, 2023, as Appl. No. 18/540,632.
Application 18/540,632 is a continuation of application No. 17/417,176, granted, now 11,886,182, previously published as PCT/US2019/069141, filed on Dec. 31, 2019.
Claims priority of provisional application 62/786,888, filed on Dec. 31, 2018.
Prior Publication US 2024/0111303 A1, Apr. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); B62D 57/02 (2006.01); G05D 1/222 (2024.01); G05D 1/223 (2024.01); G05D 1/224 (2024.01); G05D 1/24 (2024.01); G05D 1/65 (2024.01); G06F 3/0346 (2013.01)
CPC G05D 1/0016 (2013.01) [B62D 57/02 (2013.01); G05D 1/0033 (2013.01); G05D 1/0038 (2013.01); G05D 1/0223 (2013.01); G05D 1/222 (2024.01); G05D 1/223 (2024.01); G05D 1/224 (2024.01); G05D 1/2247 (2024.01); G05D 1/2248 (2024.01); G05D 1/24 (2024.01); G05D 1/65 (2024.01); G06F 3/0346 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of detecting an intent of vehicle control, the method comprising:
receiving gesture data generated from a user interface with respect to a global reference frame, wherein the gesture data is representative of a desired motion of at least a portion of a vehicle;
computing, from the gesture data, an initial desired velocity vector representing a desired linear velocity or a desired angular velocity of at least the portion of the vehicle;
transforming the initial desired velocity vector from the global reference frame into a control reference frame;
identifying, from a set of principal axis directions that are parallel to principal axes of the control reference frame, a nearest principal axis direction based on comparing a direction of the initial desired velocity vector with the set of principal axis directions;
computing a misalignment angle that represents a deviation in the direction of the initial desired velocity vector from the nearest principal axis direction;
upon determining that the misalignment angle is less than or equal to an axis-snapping tolerance value, defining a final desired velocity vector by rotating the initial desired velocity vector such that the final desired velocity vector is parallel to the nearest principal axis direction; and
sending information indicating the final desired velocity vector to at least the portion of the vehicle.