Patent ID: 11945443
Assignee: CLEARPATH ROBOTICS INC.
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 10:
11. A method for traction detection and control of a vehicle comprising:
controlling, via a processor, at least one drive motor of the vehicle to move the vehicle along a path within an environment, the at least one drive motor being configured to drive at least one wheel of the vehicle;
determining, by the processor, that at a pre-determined time in the future, the vehicle will experience a condition associated with traction loss along the path;
evaluating, by the processor, the condition to determine a nature of the traction loss for the vehicle;
based on the nature of the traction loss and the vehicle:
determining, by the processor, one or more priorities for minimizing traction loss at the pre-determined time; and
selecting, by the processor, at least one traction-control strategy to address the one or more priorities from one or more traction-control strategies, wherein each traction-control strategy is assigned a score generated based on one or more previous applications of that traction-control strategy for the nature of the traction loss and the vehicle; and

at the pre-determined time:
implementing, by the processor, a corrective action in accordance with the at least one traction-control strategy;
continue to evaluate a result of the corrective action; and
in response to determining the corrective action is ineffective, continuing to determine a current priority for minimizing traction loss and to select a current traction-control strategy to address the current priority.