Systems and methods of detecting intent of spatial control
Systems and methods of manipulating/controlling robots. In many scenarios, data collected by a sensor (connected to a robot) may not have very high precision (e.g., a regular commercial/inexpensive sensor) or may be subjected to dynamic environmental changes. Thus, the data collected by the sensor may not indicate the parameter captured by the sensor with high accuracy. The present robotic control system is directed at such scenarios. In some embodiments, the disclosed embodiments can be used for computing a sliding velocity limit boundary for a spatial controller. In some embodiments, the disclosed embodiments can be used for teleoperation of a vehicle located in the field of view of a camera.
1. A method of detecting an intent of vehicle control, the method comprising:
receiving gesture data generated from a user interface with respect to a global reference frame, wherein the gesture data is representative of a desired motion of at least a portion of a vehicle;
computing, from the gesture 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 is parallel to the nearest principal axis direction; and
sending information indicating the final desired velocity vector to at least the portion of the vehicle.
2. The method of claim 1 , wherein at least the portion of the vehicle is remotely located from a device generating the gesture data, and wherein sending the final desired velocity vector uses a wired network connection or a wireless network connection.
3. The method of claim 1 , further comprising:
upon determining that the misalignment angle is greater than the axis-snapping tolerance value, defining the final desired velocity vector equal to the initial desired velocity vector.
4. The method of claim 1 , wherein transforming the initial desired velocity vector from the global reference frame into the control reference frame includes: selecting the control reference frame from one of: a first reference frame of a device that provides the gesture data, a second reference frame of the user interface, or a third reference frame of at least the portion of the vehicle.
5. The method of claim 1 , wherein sending the information indicating the final desired velocity vector includes: transforming the final desired velocity vector into a reference frame of at least the portion of the vehicle.
6. A method of detecting an intended regime of a velocity command, the method comprising:
receiving gesture data generated from movement of an operator with respect to a global reference frame, wherein the gesture data is representative of a desired motion of at least a portion of a vehicle;
compute, from the gesture 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 first magnitude of the desired linear velocity vector by a linear magnitude threshold and an angular ratio by dividing a second 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 the 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.
7. The method of claim 6 , wherein sending the data indicating the desired linear velocity vector and the desired angular velocity vector includes: transforming the desired linear velocity vector and the desired angular velocity vector into a reference frame defined with respect to at least the portion of the vehicle.
8. The method of claim 6 , wherein ignoring the desired linear velocity vector and/or ignoring the desired angular velocity vector includes: setting the desired linear velocity vector and/or the desired angular velocity vector to zero.
9. The method of claim 6 , wherein the desired linear velocity vector and/or the desired angular velocity vector are represented in at least one of: a 1 -dimensional space, a 2-dimensional space, or a 3-dimensional space.
10. The method of claim 6 , wherein the gesture data includes at least one linear degree-of-freedom and at least one angular degree-of-freedom.
11. The method of claim 6 , wherein the one or more rules associated with the desired linear velocity vector include a rule to determine whether the linear ratio is less than 1 and also less than the angular ratio.
12. The method of claim 6 , wherein the one or more rules associated with the desired angular velocity vector include a rule to determine whether the angular ratio is less than 1 and also less than the linear ratio.
13. One or more non-transitory computer-readable media storing instructions that when executed by one or more processors perform operations comprising:
receiving gesture data generated from movement of an operator with respect to a global reference frame, wherein the gesture data is representative of a desired motion of at least a portion of a vehicle;
compute, from the gesture 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 first magnitude of the desired linear velocity vector by a linear magnitude threshold and an angular ratio by dividing a second 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 the 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.
14. The one or more non-transitory computer-readable media of claim 13 , wherein the instructions for sending the data indicating the desired linear velocity vector and the desired angular velocity vector include instructions for: transforming the desired linear velocity vector and the desired angular velocity vector into a reference frame defined with respect to at least the portion of the vehicle.
15. The one or more non-transitory computer-readable media of claim 13 , wherein the instructions for ignoring the desired linear velocity vector and/or ignoring the desired angular velocity vector include instructions for setting the desired linear velocity vector and/or the desired angular velocity vector to zero.
16. The one or more non-transitory computer-readable media of claim 13 , wherein the desired linear velocity vector and/or the desired angular velocity vector are represented in at least one of: a 1-dimensional space, a 2-dimensional space, or a 3-dimensional space.
17. The one or more non-transitory computer-readable media of claim 13 , wherein the gesture data includes at least one linear degree-of-freedom and at least one angular degree-of-freedom.
18. The one or more non-transitory computer-readable media of claim 13 , wherein the one or more rules associated with the desired linear velocity vector include a rule to determine whether the linear ratio is less than 1 and also less than the angular ratio.
19. The one or more non-transitory computer-readable media of claim 13 , wherein the one or more rules associated with the desired angular velocity vector include a rule to determine whether the angular ratio is less than 1 and also less than the linear ratio.
20. The one or more non-transitory computer-readable media of claim 13 , wherein at least the portion of the vehicle is remotely located from a device generating the gesture data, and wherein the gesture data is sent via a wired network connection or a wireless network connection.