Patent ID: 11906961
Assignee: CLEARPATH ROBOTICS INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 18:
19. An unmanned vehicle comprising:
a chassis;
a communication interface; and
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 configured to:
in a guided calibration mode, while controlling the propulsion system according to commands received via the communications interface from an external guided control system, select 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, process 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;
automatically switch operation of the propulsion system to an autonomous calibration mode when the degree of certainty is above a first threshold value associated with a safe operation of the propulsion system in the autonomous calibration mode;
in an autonomous calibration mode, while automatically controlling the propulsion system to move the chassis, collecting the sensor data from the one or more sensors; and further processing the sensor data using the one or more uncertainty propagation models to determine at least one further degree of certainty on the calibration; and
automatically switch operation of the propulsion system to an operational mode when the further degree of certainty is above a second threshold value greater than the first threshold value.