	US 12,228,422 B2
	Navigation system for unmanned aircraft in unknown environments
Logan A. Elliott, San Antonio, TX (US); Anthony J. Wagner, San Antonio, TX (US); Justin B. Daniel, San Antonio, TX (US); and Stephen A. Geiger, San Antonio, TX (US)
Assigned to Southwest Research Institute, San Antonio, TX (US)
Filed by Southwest Research Institute, San Antonio, TX (US)
Filed on Sep. 5, 2022, as Appl. No. 17/902,977.
Prior Publication US 2024/0078914 A1, Mar. 7, 2024
Int. Cl. G01C 21/00 (2006.01); G01C 21/34 (2006.01); G05D 1/644 (2024.01); G05D 109/20 (2024.01); G08G 5/00 (2006.01)

CPC G01C 21/3833 (2020.08) [G01C 21/3461 (2013.01); G05D 1/6445 (2024.01); G05D 2109/20 (2024.01)]

12 Claims

1. A method of on-board navigation through an unknown environment for an unmanned aircraft system (UAS), comprising:

using a sensor system to generate point cloud data representing an environment of the UAS as the UAS flies;

using a processing system to perform the following steps: processing the point cloud data to generate both a two-dimensional occupancy grid and a three-dimensional voxel map;

wherein the two-dimensional occupancy grid comprises cells having known and unknown data;

determining an amount of known-to-unknown data in each cell of the two-dimensional occupancy grid, thereby determining unexplored regions of the environment;

assigning a cost to each unexplored region, based at least in part on the amount of known-to-unknown data within cells of the region;

sorting the unexplored regions based on their costs, thereby determining an optimal region to explore;

using the three-dimensional voxel map to determine a safe area within the optimal region where the UAS may fly;

calculating a flight path in the safe area provided by the three-dimensional voxel map;

generating control signals to navigate the UAS based on the flight path; and

using the sensor system and the processing system to continuously repeat the method to generate control signals to navigate the UAS based on the flight path.

7. A navigation system for an unmanned aircraft system (UAS) operating in an unknown environment, comprising:

an on-board sensor system operable to generate point cloud data representing an environment of the UAS as the UAS flies;

an on-board processing system having a process for processing the point cloud data to generate both a two-dimensional occupancy grid and a three-dimensional voxel map; wherein the two-dimensional occupancy grid comprises cells having known and unknown data;

the on-board navigation system further having processes for determining an amount of known-to-unknown data in each cell of the two-dimensional occupancy grid, thereby determining unexplored regions of the environment; for assigning a cost to each unexplored region, based at least in part on the amount of known-to-unknown data within cells of the region; for sorting the unexplored regions based on their costs, thereby determining an optimal region to explore; for using the three-dimensional voxel map to determine a safe area within the optimal region where the UAS may fly; and for calculating a flight path in the safe area provided by the three-dimensional voxel map; and for generating control signals to navigate the UAS based on the flight path.