| CPC G05D 1/0212 (2013.01) [B60P 1/38 (2013.01); G05D 1/0011 (2013.01)] | 18 Claims |
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1. An unmanned land vehicle for autonomously navigating an indoor environment, the unmanned vehicle comprising:
a chassis;
a propulsion system configured to move the chassis;
one or more sensors configured to sense features around the chassis;
a memory storing feature reference data, wherein the feature reference data is expressed relative to a global reference frame with respect to the indoor environment;
a communication interface; and
a processor configured to:
receive, using the communication interface, a command to move to a feature coordinate associated with a target feature defined with respect to the global reference frame;
control the propulsion system to move the chassis to the feature coordinate using the global reference frame based on the command;
while the chassis is moving to the feature coordinate, monitor for the target feature using sensor data generated by the one or more sensors;
in response to determining a match between at least a portion of the target feature based on the sensor data and the feature reference data:
retrieve, from the memory, one or more local reference frames defined with reference to the target feature;
select a local reference frame from the one or more local reference frames based on an orientation of the unmanned land vehicle relative to the target feature;
determine an operation mode for operating the chassis based on the feature reference data associated with the target feature; and
automatically control the propulsion system to operate the chassis relative to the target feature in the local reference frame according to the operation mode.
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