| CPC B64C 39/024 (2013.01) [B64D 35/08 (2013.01); B64D 47/00 (2013.01); G01C 21/206 (2013.01); G05D 1/1064 (2019.05); B64U 2201/00 (2023.01)] | 34 Claims |
|
1. An aerial vehicle comprising:
a plurality of propulsion motors, wherein each of the propulsion motors is configured to rotate a propeller at one or more rotational speeds;
at least one range sensor provided in association with a fuselage defining a first axis, wherein the at least one range sensor is configured to transmit light and receive reflected light;
at least one memory component; and
at least one computer processor,
wherein the at least one memory component is programmed with one or more sets of instructions that, when executed by the at least one computer processor, cause the aerial vehicle to at least:
identify positions of each of a plurality of waypoints aligned in a path, wherein each of the positions is located within at least one indoor space of a facility;
operate at least one of the plurality of propulsion motors to cause the aerial vehicle to travel on a course, at a speed, and at an altitude associated with a first trajectory from a first waypoint of the plurality of waypoints through a second waypoint of the plurality of waypoints to a third waypoint of the plurality of waypoints;
determine, based at least in part on first data captured by the at least one range sensor, that at least one object is within a detection zone defined at least in part by:
a first predetermined distance; and
an angle relative to an axis defined based on a front of the aerial vehicle;
based at least in part on determining that the detection zone;
determine a position of the aerial vehicle at a first time;
calculate a second trajectory from the position of the aerial vehicle at the first time through the second waypoint to the third waypoint, wherein the second trajectory is calculated according to an equation for minimizing snap of an aerial vehicle comprising a plurality of polynomial functions based at least in part on:
a maximum speed of the aerial vehicle;
a maximum acceleration of the aerial vehicle;
the position of the aerial vehicle at the first time;
a speed of the aerial vehicle at the first time;
a position of the second waypoint; and
a position of the third waypoint;
generate commands for causing the aerial vehicle to travel on a course, at a speed, and at an altitude associated with the second trajectory from the position of the aerial vehicle at the first time to the second waypoint through at least the third waypoint according to the second trajectory; and
execute at least a first set of the commands for causing the aerial vehicle to travel from the position of the aerial vehicle at the first time to the third waypoint.
|