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

Claim 5:
6. A method of detecting an intended regime of a velocity command associated with spatial control of a vehicle comprising:
receive, 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 is representative of a desired motion of at least a portion of a vehicle;
compute, from the spatial motion data, a desired linear velocity vector and a desired angular velocity vector of at least the portion of the vehicle;
compute a linear ratio by dividing a magnitude of the desired linear velocity vector by a linear magnitude threshold and an angular ratio by dividing a magnitude of the desired angular velocity vector by an angular magnitude threshold;
upon determining that the linear ratio or the angular ratio satisfies one or more rules associated with the desired linear velocity vector, ignoring the desired linear velocity vector;
upon determining that the linear ratio or the angular ratio satisfies one or more rules associated with the desired angular velocity vector, ignoring the desired angular velocity vector; and
sending data indicating the desired linear velocity vector and the desired angular velocity vector to at least the portion of the vehicle.