Patent ID: 11886182
Assignee: TOMAHAWK ROBOTICS, INC.
Field: Control (Instruments)
Classification: CPC G  B  F | IPC B  G

Claim 0:
1. A method of detecting an intent of spatial control of a vehicle comprising:
receiving, from a spatial controller, spatial motion data generated from movement of the spatial controller with respect to a global reference frame, wherein the spatial motion data of the spatial controller is representative of a desired motion of at least a portion of a vehicle;
computing, from the spatial motion data, an initial desired velocity vector representing a desired linear velocity or a desired angular velocity of at least the portion of the vehicle;
transforming the initial desired velocity vector from the global reference frame into a control reference frame;
identifying, from a set of principal axis directions that are parallel to principal axes of the control reference frame, a nearest principal axis direction based on comparing a direction of the initial desired velocity vector with the set of principal axis directions;
computing a misalignment angle that represents a deviation in the direction of the initial desired velocity vector from the nearest principal axis direction;
upon determining that the misalignment angle is less than or equal to an axis-snapping tolerance value, defining a final desired velocity vector by rotating the initial desired velocity vector such that the final desired velocity vector parallel to the nearest principal axis direction; and
sending information indicating the final desired velocity vector to at least the portion of the vehicle.