US 11,906,961 B2
Systems and methods for unmanned vehicles having self-calibrating sensors and actuators
Ryan Christopher Gariepy, Kitchener (CA); Kareem Shehata, Kitchener (CA); Prasenjit Mukherjee, Mississauga (CA); Anthony Tod, St. Agatha (CA); Teyvonia Thomas, Kitchener (CA); and Yan Ma, Waterloo (CA)
Assigned to CLEARPATH ROBOTICS INC., Kitchener (CA)
Filed by Clearpath Robotics Inc., Kitchener (CA)
Filed on Apr. 1, 2021, as Appl. No. 17/220,111.
Application 17/220,111 is a continuation of application No. 16/011,760, filed on Jun. 19, 2018, granted, now 10,990,093.
Application 16/011,760 is a continuation of application No. 15/691,643, filed on Aug. 30, 2017, granted, now 10,012,981, issued on Jul. 3, 2018.
Application 15/691,643 is a continuation of application No. 14/879,210, filed on Oct. 9, 2015, granted, now 9,804,594, issued on Oct. 31, 2017.
Claims priority of provisional application 62/076,569, filed on Nov. 7, 2014.
Prior Publication US 2021/0286351 A1, Sep. 16, 2021
Int. Cl. G05D 1/00 (2006.01); G05D 1/02 (2020.01)
CPC G05D 1/0011 (2013.01) [G05D 1/024 (2013.01); G05D 1/0246 (2013.01); G05D 2201/0216 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An unmanned vehicle comprising:
a chassis;
a processor for controlling a propulsion system of the unmanned vehicle and receiving sensor data from one or more sensors of the unmanned vehicle, the processor is configured to:
prior to entering an autonomous calibration mode, enumerate unmanned vehicle capabilities, by one or more of: receiving a weight of the unmanned vehicle; receiving one or more dimensions of the unmanned vehicle; autodetecting each of the one or more sensors; receiving a list of the one or more sensors; and using a scanner to scan one or more graphical identifiers of the one or more sensors;
operate the propulsion system in the autonomous calibration mode by:
automatically controlling the propulsion system to move the chassis;
collecting the sensor data from the one or more sensors;
selecting one or more uncertainty propagation models from a plurality of uncertainty propagation models based on at least one of i.) one or more unmanned vehicle capabilities and ii.) the sensor data; and
processing the sensor data using the one or more uncertainty propagation models to determine at least one degree of certainty on a calibration of one or more of the sensor data and a position of the chassis;
determine that the degree of certainty is above a threshold value; and
subsequently switch operation of the propulsion system to an operational mode based on the determination that the degree of certainty is above the threshold value.