	US 12,230,154 B2
	Guiding an unmanned aerial vehicle using multi-point guidance
Shawn Keshmiri, Lawrence, KS (US); Jeffrey Xu, Lawrence, KS (US); and Thomas Brendan Le Pichon, Kansas City, KS (US)
Assigned to University of Kansas, Lawrence, KS (US)
Appl. No. 17/626,050
Filed by University of Kansas, Lawrence, KS (US)
PCT Filed Jul. 10, 2020, PCT No. PCT/US2020/041652 § 371(c)(1), (2) Date Jan. 10, 2022, PCT Pub. No. WO2021/050161, PCT Pub. Date Mar. 18, 2021.
Claims priority of provisional application 62/872,684, filed on Jul. 10, 2019.
Prior Publication US 2024/0046803 A1, Feb. 8, 2024
Int. Cl. G08G 5/00 (2006.01); G05D 1/00 (2024.01)

CPC G08G 5/0069 (2013.01) [G05D 1/101 (2013.01); G08G 5/0021 (2013.01); G08G 5/0039 (2013.01)]

20 Claims

1. A method, comprising:

identifying a flight path between a location of an unmanned aerial vehicle (UAV) and a destination, the flight path corresponding to a desired path of movement of the UAV; and

after the UAV embarks on the flight path:

identifying a next portion of the flight path

identifying a plurality of reference points defining the next portion;

determining a composite trajectory for the UAV to follow based on a plurality of reference angles between the plurality of reference points and a current trajectory of the UAV; and

causing the UAV to accelerate in a direction of the composite trajectory to transition to the next portion of the flight path.