SYSTEM AND METHODS FOR TAGGING ACCESSIBILITY FEATURES WITH A MOTORIZED MOBILE SYSTEM
A system and method for a motorized mobile chair use a plurality of sensors having a plurality of sensor types to detect a plurality of objects and generate sensor data about the detected objects, each of the detected objects being a person, the sensor data about the objects comprising a plurality of range measurements to the people and a plurality of bearing measurements to the people. The system has at least one processor to receive the sensor data about the people, group the detected people into a plurality of zones, determine a closest person in each zone, and generate one or more control signals to cause the motorized mobile chair to match a speed and a direction of the closest person in the zone corresponding to a direction of travel of the motorized mobile chair while maintaining a selected space to the closest person in the zone.
1 . (canceled)
2 . A system for a motorized vehicle comprising:
a plurality of sensors generating sensor data corresponding to a plurality of objects within a vicinity of the motorized vehicle; and
at least one processor to:
receive the sensor data corresponding to the plurality of objects from the plurality of sensors;
group the sensor data corresponding to the plurality of objects into one or more zones;
receive at least one user input for at least one of a desired direction of travel of the motorized vehicle and a desired speed of travel of the motorized vehicle associated with the one or more zones;
determine, based on the sensor data and at least one of the desired direction of travel and the plurality of objects grouped into the one or more zones, a navigation operation including a desired speed and direction of travel of the motorized vehicle associated with the one or more zones; and
transmit a control signal for controlling the motorized vehicle for the determined desired speed and direction of travel of the motorized vehicle associated with the one or more zones.
3 . The system of claim 2 wherein the plurality of objects comprise a group of people in a crowd.
4 . The system of claim 2 wherein the at least one processor is further to:
determine a closest object in each zone of the one or more zones;
determine, based on the desired direction of travel of the motorized vehicle, a plurality of navigation operations to cause the motorized vehicle to match a speed of travel of the closest object in a first zone of the one or more zones; and
generate a plurality of control signals to cause the motorized vehicle to perform the plurality of navigation operations.
5 . The system of claim 4 wherein the plurality of navigation operations are determined to cause the motorized vehicle to at least approximately maintain a determined space between the closest object in a closest object in each of the one or more zones.
6 . The system of claim 5 wherein the plurality of navigation operations are determined to cause the motorized vehicle to match a speed and a direction of the closest object in the first zone of the one or more zones while maintaining the determined space between the closest object in each of the one or more zones.
7 . The system of claim 2 wherein the at least one processor transmits the control signal to a motor controller associated with the motorized vehicle, and the motor controller controlling one or more motors to perform the navigation operation.
8 . The system of claim 7 wherein the control signal causes the motor controller to engage one of a steering component and a drive component of the motorized vehicle.
9 . The system of claim 5 wherein the at least one processor is further to:
generate a situational awareness map of each of the plurality of objects and the determined space around the motorized vehicle; and
utilized the situational awareness map to determine the navigation operation.
10 . The system of claim 9 wherein the situational awareness map is oriented to a reference frame of the motorized vehicle.
11 . The system of claim 2 wherein the at least one processor is further to:
determine the navigation operation to equalize space on a plurality of sides of the motorized vehicle between the motorized vehicle and a closest object of the plurality of objects on the plurality of sides of the motorized vehicle.
12 . The system of claim 2 wherein the at least one processor is further to:
determine the navigation operation to maximize space on a plurality of sides of the motorized vehicle between the motorized vehicle and a closest object on the plurality of sides of the motorized vehicle.
13 . The system of claim 10 wherein each of the plurality of sensors generates the sensor data with respect to a sensor reference frame corresponding to a one of the plurality of sensors and the at least one processor is further to:
convert the sensor data from the corresponding sensor reference frame to the reference frame of the motorized vehicle.
14 . The system of claim 13 wherein the sensor data comprises polar coordinates, the at least one processor further to:
convert the sensor data comprising polar coordinates to Cartesian coordinates; and
translate the sensor data from corresponding sensor reference frames to a Cartesian coordinate system of the reference frame of the motorized vehicle.
15 . The system of claim 2 wherein the at least one processor determines the navigation operation according to one or more flock based rules stored in memory of the motorized vehicle.
16 . The system of claim 2 wherein the at least one processor is further to:
receive one or more other user inputs for one or more other navigation operations; and
further generates one or more control signals to cause the motorized vehicle to perform the one or more other navigation operations when not detecting the plurality of objects moving within a selected space around the motorized vehicle.
17 . The system of claim 2 wherein the at least one user input is received from a smart device or a user interface of the motorized vehicle.
18 . A method for controlling a motorized vehicle, the method comprising:
receiving, from a plurality of sensors, sensor data corresponding to a plurality of objects within a vicinity of the motorized vehicle;
grouping the sensor data corresponding to the plurality of objects into one or more zones;
receiving, from a user input device associated with the motorized vehicle, at least one user input for at least one of a desired direction of travel of the motorized vehicle and a desired speed of travel of the motorized vehicle associated with the one or more zones;
determining, based on the sensor data and at least one of the desired direction of travel and the plurality of objects grouped into the one or more zones, a navigation operation including a desired speed and direction of travel of the motorized vehicle associated with the one or more zones; and
transmitting a control signal for controlling the motorized vehicle for the determined desired speed and direction of travel of the motorized vehicle associated with the one or more zones.
19 . The method of claim 18 wherein the plurality of objects comprise a group of people in a crowd.
20 . The method of claim 18 further comprising:
determining a closest object in each zone of the one or more zones;
determining, based on the desired direction of travel of the motorized vehicle, a plurality of navigation operations to cause the motorized vehicle to match a speed of travel of the closest object in a first zone of the one or more zones; and
generating a plurality of control signals to cause the motorized vehicle to perform the plurality of navigation operations.
21 . The method of claim 20 wherein the plurality of navigation operations are determined to cause the motorized vehicle to at least approximately maintain a determined space between the closest object in a closest object in each of the one or more zones.
22 . The method of claim 21 wherein the plurality of navigation operations are determined to cause the motorized vehicle to match a speed and a direction of the closest object in the first zone of the one or more zones while maintaining the determined space between the closest object in each of the one or more zones.
23 . The method of claim 18 further comprising:
transmitting the control signal to a motor controller associated with the motorized vehicle, and the motor controller controlling one or more motors to perform the navigation operation.
24 . The method of claim 23 wherein the control signal causes the motor controller to engage one of a steering component and a drive component of the motorized vehicle.