Patent SG-11201906986W-A (SG)
Title: Method of navigating an unmanned vehicle and system thereof
Inventor: APPELMAN DINA
IPC: G08G1/16
Filed: 2018-02-22
Abstract: INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 30 August 2018 (30.08.2018) WIP0 I PCT omit °nolo HE loom loom io iflo oimIE (10) International Publication Number WO 2018/154579 Al RECEIVE DATA APO DEIERMINE MAP PARAMEIERS RECEIVE SCANNING DEVICE READINGS (51) International Patent Classification: G05D 1/02 (2006.01) G01S 17/93 (2006.01) G08G 1/16 (2006.01) (21) International Application Number: PCT/IL2018/050208 (22) International Filing Date: 22 February 2018 (22.02.2018) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 250762 23 February 2017 (23.02.2017) IL (71) Applicant: ISRAEL AEROSPACE INDUSTRIES LTD. [IL/IL]; Ben-Gurion International Airport, 7010000 Lod (IL). (72) Inventors: APPELMAN, Dina; 7/9 Shlomo Ben-Yosef Street, 5940210 Bat-Yam (IL). COHEN, Ofir; P.O. Box 203, 975000 Tzelafon (IL). (74) Agent: REINHOLD COHN AND PARTNERS; P.O. Box 13239, 6113102 Tel-Aviv (IL). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Declarations under Rule 4.17: — of inventorship (Rule 4.17(iv)) Published: — with international search report (Art. 21(3)) (54) Title: METHOD OF NAVIGATING AN UNMANNED VEHICLE AND SYSTEM THEREOF (57) : The presently disclosed subject matter includes a system and a method of navigating an unmanned ground vehicle (UGV) vehicle comprising a scanning device and an Inertial Navigation System (INS) being operatively - ECENE READINGS FROM INS connected to at least one processor. Operating the scanning device for scanning an area surrounding the UGV, and generate scanning output data; Generating, based on the scanning output data, a map representing at least a part of the area, the map being relative to a location of the UGV and comprising cells, each cell is classified to a class selected from at least two classes, comprising traversable and UPDAIE LOCAIION OF non-traversable, and characterized by dimensions larger than an accumulated TO UG, OBSTA. NE drift value of the INS over a predefined distance; receiving INS data indicative CELLS IN MAP of a current location of the UGV and updating a location of the UGV relative to cells in the map based on the INS data. OBTAIN PATH TO DESTINATION GENERATE/UPDATE RELATIVE MAP W O 20 18/ 15 457 9 Al PDATE PATH FOR AVOID! OBSTACLES 5 STEERING COMMANDS GENERATION FIG. 3