MOTION PLANNING USING ACCELERATION PROFILES
Methods and systems are described herein for navigating a vehicle. A target location may be received, and based on the target location and vehicle parameters, an acceleration profile for the vehicle may be generated. The acceleration profile may include a first duration for accelerating the vehicle and a second duration for not accelerating the vehicle. When the acceleration profile is generated, a trajectory profile for travelling to the target location may be generated using the acceleration profile. The trajectory profile may include multiple instances of the acceleration profile. When the trajectory profile is being executed, a distance travelled by the vehicle after each instance of the acceleration profile is executed may be calculated. Based on the distance travelled after each instance of the acceleration profile is executed, an instance of when the target location is reached may be determined.
1 . A system for navigating uncrewed vehicles, the system comprising:
one or more processors; and
one or more non-transitory, computer-readable storage media storing instructions, which when executed by the one or more processors cause the one or more processors to perform operations comprising:
receiving a target location for an uncrewed vehicle;
generating, based on vehicle parameters associated with the uncrewed vehicle, an acceleration profile for the uncrewed vehicle, wherein the acceleration profile comprises a first duration for accelerating the uncrewed vehicle and a second duration for refraining from accelerating the uncrewed vehicle, and wherein the vehicle parameters comprise at least one of vehicle type or an acceleration sensor type;
determining, based on the target location, a target distance to the target location;
generating, based on the target distance and the acceleration profile, a trajectory profile for travelling to the target location, wherein the trajectory profile comprises a plurality of instances of the acceleration profile;
calculating, using an onboard device, while executing the trajectory profile after each instance of the acceleration profile, a distance travelled by the uncrewed vehicle; and
based on determining that the distance travelled matches the target distance, generating an indication that the target location has been reached.
2 . The system of claim 1 , wherein the instructions for generating, the acceleration profile for the uncrewed vehicle further cause the one or more processors to perform operations comprising:
detecting the vehicle type;
determining, based on the vehicle type, a maximum thrust associated with the uncrewed vehicle; and
determining the first duration based on the maximum thrust associated with the uncrewed vehicle, wherein an acceleration value is set below the maximum thrust.
3 . The system of claim 1 , wherein the instructions further cause the one or more processors to perform operations comprising:
detecting the acceleration sensor type;
determining, based on the acceleration sensor type, a minimum detectable acceleration; and
determining the acceleration profile based on the minimum detectable acceleration, wherein an acceleration value is set above the minimum detectable acceleration.
4 . The system of claim 1 , wherein the acceleration profile comprises:
a first instruction to engage one or more motors associated with the uncrewed vehicle and an amount of power to be applied to the one or more motors; and
a second instruction to disengage the one or more motors after a time period for engaging the one or more motors has passed.
5 . The system of claim 1 , wherein the instructions for calculating the distance travelled by the uncrewed vehicle cause the one or more processors to perform operations comprising:
determining a direction associated with a first acceleration, wherein the first acceleration is associated with a first instance of the plurality of instances of the acceleration profile; and
adjusting a second instance of the acceleration profile based on the direction associated with the first acceleration.
6 . The system of claim 1 , wherein the instructions for calculating the distance travelled by the uncrewed vehicle cause the one or more processors to perform operations comprising:
determining a first distance travelled after a first acceleration, wherein the first acceleration is associated with a first instance of the plurality of instances of the acceleration profile; and
adjusting the trajectory profile based on the first distance travelled after the first acceleration.
7 . The system of claim 1 , wherein the instructions further cause the one or more processors to perform operations comprising:
determining, based on the vehicle type, that the uncrewed vehicle is an aerial vehicle; and
based on determining that the uncrewed vehicle is the aerial vehicle, adjusting the acceleration profile to prevent the uncrewed vehicle from contacting terrain.
8 . A method comprising:
receiving a target location for an uncrewed vehicle;
generating, based on vehicle parameters associated with the uncrewed vehicle, an acceleration profile for the uncrewed vehicle, wherein the acceleration profile comprises a first duration for accelerating the uncrewed vehicle and a second duration for refraining from accelerating the uncrewed vehicle;
generating, based on the target location and the acceleration profile, a trajectory profile for travelling to the target location, wherein the trajectory profile comprises a plurality of instances of the acceleration profile;
calculating, while executing the trajectory profile after each instance of the acceleration profile, a distance travelled by the uncrewed vehicle; and
based on determining that the distance travelled matches a target distance to the target location, generating an indication that the target location has been reached.
9 . The method of claim 8 , wherein generating the acceleration profile for the uncrewed vehicle comprises:
detecting a vehicle type associated with the uncrewed vehicle;
determining, based on the vehicle type, a maximum thrust associated with the uncrewed vehicle; and
determining the first duration based on the maximum thrust associated with the uncrewed vehicle, wherein an acceleration value is set below the maximum thrust.
10 . The method of claim 8 , wherein generating the acceleration profile for the uncrewed vehicle further comprises:
detecting an acceleration sensor type associated with a sensor onboard the uncrewed vehicle that measures acceleration of the uncrewed vehicle;
determining, based on the acceleration sensor type, a minimum detectable acceleration; and
determining the acceleration profile based on the minimum detectable acceleration, wherein an acceleration value is set above the minimum detectable acceleration.
11 . The method of claim 8 , wherein the acceleration profile comprises:
a first instruction to engage one or more motors associated with the uncrewed vehicle and an amount of power to be applied to the one or more motors; and
a second instruction to disengage the one or more motors after a time period for engaging the one or more motors has passed.
12 . The method of claim 8 , wherein calculating the distance travelled by the uncrewed vehicle comprises:
determining a direction associated with a first acceleration, wherein the first acceleration is associated with a first instance of the plurality of instances of the acceleration profile; and
adjusting a second instance of the acceleration profile based on the direction associated with the first acceleration.
13 . The method of claim 8 , wherein calculating the distance travelled by the uncrewed vehicle comprises:
determining a first distance travelled after a first acceleration, wherein the first acceleration is associated with a first instance of the plurality of instances of the acceleration profile; and
adjusting the trajectory profile based on the first distance travelled after the first acceleration.
14 . The method of claim 8 , further comprising:
determining, based on a vehicle type of the uncrewed vehicle, that the uncrewed vehicle is an aerial vehicle; and
based on determining that the uncrewed vehicle is the aerial vehicle, adjusting the acceleration profile to prevent the uncrewed vehicle from contacting terrain.
15 . One or more non-transitory, computer-readable media storing instructions thereon, wherein the instructions cause one or more processors to perform operations comprising:
receiving a target location for an uncrewed vehicle;
generating, based on vehicle parameters associated with the uncrewed vehicle, an acceleration profile for the uncrewed vehicle, wherein the acceleration profile comprises a first duration for accelerating the uncrewed vehicle and a second duration for refraining from accelerating the uncrewed vehicle;
determining, based on the target location and a current location, a target distance to the target location;
generating, based on the target distance and the acceleration profile, a trajectory profile for travelling to the target location, wherein the trajectory profile comprises a plurality of instances of the acceleration profile;
calculating, while executing the trajectory profile after each instance of the acceleration profile, a distance travelled by the uncrewed vehicle; and
adjusting uncrewed vehicle movement based on the distance travelled.
16 . The one or more non-transitory, computer-readable media of claim 15 , wherein the instructions for generating the acceleration profile for the uncrewed vehicle further cause the one or more processors to perform operations comprising:
detecting a vehicle type associated with the uncrewed vehicle;
determining, based on the vehicle type, a maximum thrust associated with the uncrewed vehicle; and
determining the first duration based on the maximum thrust associated with the uncrewed vehicle, wherein an acceleration value is set below the maximum thrust.
17 . The one or more non-transitory, computer-readable media of claim 15 , wherein the instructions for generating the acceleration profile for the uncrewed vehicle further cause the one or more processors to perform operations comprising:
detecting an acceleration sensor type associated with a sensor onboard the uncrewed vehicle that measures acceleration of the uncrewed vehicle;
determining, based on the acceleration sensor type, a minimum detectable acceleration; and
determining the acceleration profile based on the minimum detectable acceleration, wherein an acceleration value is set above the minimum detectable acceleration.
18 . The one or more non-transitory, computer-readable media of claim 15 , wherein the acceleration profile comprises:
a first instruction to engage one or more motors associated with the uncrewed vehicle and an amount of power to be applied to the one or more motors; and
a second instruction to disengage the one or more motors after a time period for engaging the one or more motors has passed.
19 . The one or more non-transitory, computer-readable media of claim 15 , wherein the instructions for calculating the distance travelled by the uncrewed vehicle further cause the one or more processors to perform operations comprising:
determining a direction associated with a first acceleration, wherein the first acceleration is associated with a first instance of the plurality of instances of the acceleration profile; and
adjusting a second instance of the acceleration profile based on the direction associated with the first acceleration.
20 . The one or more non-transitory, computer-readable media of claim 15 , wherein the instructions for calculating the distance travelled by the uncrewed vehicle further cause the one or more processors to perform operations comprising:
determining a first distance travelled after a first acceleration, wherein the first acceleration is associated with a first instance of the plurality of instances of the acceleration profile; and
adjusting the trajectory profile based on the first distance travelled after the first acceleration.