AUTONOMOUS SOLUTIONS INC - CONVOY ROBOTICS

Robotics and autonomous artificial intelligence will enhance the future of mankind

 

 

Mel Torrie

 

ASI President and CEO Mel Torrie

 

HISTORY

 

For more than 12 years, Autonomous Solutions, Inc. has been a world leader in unmanned ground vehicle systems and components. From their northern Utah headquarters, ASI serves clients in military, agriculture, industrial, and automotive proving ground industries with solutions ranging from remote controlled to fully autonomous vehicles.

 

ASI was established in 2000, winning their first contract with John Deere. They are a company specializing in land vehicle control. This first contract was the start of a rapid growth and development period. Three years later, in April of 2003 they released Mobius,™ a Command & Control software to replace the legacy MARS system. In the same year, in June, they were granted a patent by the USPTO for their orchard automation technology, which is found in the John Deere 5510. FInally in October 2003 ASI released its first version of Chaos,™ a high mobility robot.

 

From July 2005, ASI worked with the Nellis Air Force Base to develop the JT3 automated targeting vehicles. Robots make ideal moving targets, the by product of which is that companies get to develop the systems for more advanced applications, leading to autonomy.

 

Two years later in March of 2007 ASI moved to their new 100 acre headquarters and proving ground in Petersboro, Utah. In this year ASI participated in the 2007 DARPA Grand Challenge (Urban Challenge). In February ASI were named the MEP Utah Manufacturer of the Year for 2006.

 

October 2008 saw ASI introduce vehicle automation options into the mining/industrial market. Then there is a break until they found the vehicle Proving Ground Automation entity in January of 2011. This is for their developments in the automotive testing industry. In August of 2011 with Team UXOD (ASI, SAIC, Kairos Autonomi, and Zonge International) they won the 2011 Robotic Range Clearance Competition.

Significantly, in February of 2012 the USPTO granted ASI a patent for their Guideline™ Robotic Convoy System. In December of ASI adopted their AGILE design processes for both hardware and software development, under the trade name Guideline.™ 

 

In April of 2013 the Guideline™ Robotic Convoy System was named the Bronze Edison Award winner in the Applied Technology (Safety Category). There is thus a clear pattern of development heading toward autonomy of vehicles. Where this may lead is anyone's guess, ultimately dependent on market trends. 

 

 

 

 

EDISON AWARDS - CHICAGO, IL (PRWEB) March 25, 2013

Guideline™ Robotic Convoy System has been named a 2013 Award Finalist by the internationally renowned Edison Awards™. Guideline™ by Autonomous Solutions, Inc. (ASI) is a Finalist in the Applied Technologies (Safety) category, one of twelve categories honored by the Edison Awards™. The distinguished awards symbolize the persistence and excellence personified by Thomas Alva Edison, inspiring creative minds to remain in the forefront of innovation, creativity and ingenuity in the global economy.

“More than any year, this year’s slate of Finalists demonstrate the enormous value of teamwork, experimentation, consumer focus, market awareness and game-changing success,” said Frank Bonafilia, Edison Awards’ executive director. “It’s exciting to see companies like Autonomous Solutions continuing Thomas Edison’s legacy of challenging conventional thinking.”

“This is a great honor to be selected as an Edison Award Finalist,” said Mel Torrie, CEO of ASI. “Guideline is a simple, but innovative solution to autonomous convoying that will save lives and also increase productivity. We’re excited that the Edison Award Panelists also recognized Guideline’s benefits and potential.”

The ballot of nominees for the Edison Awards™ is judged by more than 3,000 senior business executives and academics from across the nation whose votes acknowledge the Finalists’ success in meeting the award criteria of Concept, Value, Delivery and Impact. The Panel includes members of the Marketing Executives Networking Group (MENG), the American Association Advertising Agencies (4As) the Chief Marketing Officer Council (CMO), the Design Management Institute (DMI), the American Productivity & Quality Center (APQC) the American Society of Mechanical Engineers (ASME) and the Association of Technology Management & Applied Engineering (ATMAE). Also on the Panel are hundreds of past Edison Award winners, marketing professionals, scientists, designers, engineers and academics.

Award winners will be announced April 25, 2013, at the Edison Awards Annual Gala, held in the Grand Ballroom at historic Navy Pier in Chicago, IL.

The Edison Awards™ is a program conducted by Edison Universe, a 501(c)(3) charitable organization dedicated to fostering future innovators. The 2013 Edison Awards are sponsored by Nielsen, Discovery Communications, Science Channel, and USA Today.

 

 

 

US PATENT CONVOY

The Guideline Unmanned Convoy System extends instant and highly-featured advantages to industrial as well as military operators such as high efficiency in non-combat or industrial zones; minimization in driving personnel by over 2X. It also provides failsafe, redundant leader-follower system, equipping GPS/laser guided convoy systems during interference or when signal is lost; and protecting military personnel from dangers within active combat zones. The system ensures effective operation in all types of road conditions, terrain, and weather. Furthermore, it is compatible with all sizes of vehicles from small ATVs to well-built, sturdy military transport vehicles.

This robotically-controlled guidance system called ‘Guideline system’ can be installed atop the anterior part of military or industrial vehicles. Each Guideline unit is composed of Kevlar tether equipped on a mechanical spool. The unit also includes sensors that can clearly examine the speed, vector, and length of the tether that moves from or returns to the spool, based on the data to the automation kit of the vehicle. The onboard computer built within the kit shows the speed and position of the lead vehicle, designing a course for the autonomous vehicle that imitates the actual path of the leader. Once the lead vehicle is propelled for motion, the buffer distance between the two vehicles is automatically increased by the Guideline, ensuring safe stopping distance.

 

ASI’s Guideline Robotic Convoy System is now being deployed in field trials in Singapore, the United States, and Australia, serving various operation scenarios.

 

 

 

 

 

TRADEMARK - GUIDELINE ROBOTIC CONVOY

 

 

Word Mark:

GUIDELINE ROBOTIC CONVOY

Status/
Status Date:

PUBLICATION/ISSUE REVIEW COMPLETE

12/28/2013

Serial Number:

85864421

Filing Date:

3/1/2013

Registration Number:

NOT AVAILABLE

Registration Date:

NOT AVAILABLE

Goods and Services:

autonomous leader/follower robotic software and hardware system comprised of communication software for creating algorithms to determine distance, vector, speed, and position of lead vehicle, plotting course for following vehicle, and relay of commands to autonomous computer and tether spool, tether attachment device, sensors, sold as a unit

Mark Description:

The mark consists of The large word "GUIDELINE" is lower case. A graphical depiction of a carabineer is attached to the lower part of the "G" of "GUIDELINE". A straight dotted line leads from the carabineer to an oval, dotted line shape that surrounds the words "ROBOTIC CONVOY".

Type Of Mark:

TradeMark

Published For Opposition Date:

2/4/2014

Last Applicant/Owner:

Autonomous Solutions, Inc.
Petersboro, UT 84325

Mark Drawing Code:

Drawing/Design + Words

Design Search:

Other small hardware articles, including hooks, magnets (Hardware, tools and ladders, non - motorized agricultural implements; keys and locks. - Small hardware articles, springs )

Oblongs as carriers for words, letters or designs. (Geometric figures and solids - Rectangles) 

Dotted line(s) (Geometric figures and solids - Lines, bands, bars, chevrons and angles) 

Horizontal line(s), band(s) or bar(s) (Geometric figures and solids - Lines, bands, bars, chevrons and angles) 

Register Type:

Principal

Disclaimer:

("ROBOTIC CONVOY")

Correspondent:

AUTONOMOUS SOLUTIONS, INC.

AUTONOMOUS SOLUTIONS, INC.

990 N 8000 W

MENDON, UT 84325-9758

 

CLASSIFICATION INFORMATION

 

International Class Code(s):

009

US Class Code(s):

021, 023, 026, 036, 038

Primary Class:

Scientific, nautical, surveying, photographic, cinematographic, optical, weighing, measuring, signalling, checking (supervision), life-saving and teaching apparatus and instruments; apparatus and instruments for conducting, switching, transforming, accumulating, regulating or controlling electricity; apparatus for recording, transmission or reproduction of sound or images; magnetic data carriers, recording discs; automatic vending machines and mechanisms for coin operated apparatus; cash registers, calculating machines, data processing equipment and computers; fire extinguishing apparatus.

Class(es) Status:

Active

First Use Anywhere:

5/1/2008

First Use In Commerce:

7/14/2008

 

 

COLLABORATION

 

As a company ASI is open to partnering and collaborative research. Of particular interest to those into vehicle control are the following areas of development:


3D ROBOTIC PERCEPTION

Obstacle Detection


Left to themselves, blind unmanned vehicles might run over or into obstacles in the course of their pathway. ASI's Forecast 3D Laser System and Vantage obstacle detection and avoidance software enables unmanned vehicles to detect objects that could pose a threat and react appropriately. Depending on vehicle configuration, unmanned vehicles may exhibit see-and-stop or see-and-avoid behavior when encountering an obstacle.

GPS-Denied Autonomy

ASI researchers claim to be at the forefront of the industry in designing new methods for GPS-denied navigation. Advanced navigation systems include position estimation from multi-sensor fusion and road detection algorithms that allow navigation regardless of GPS quality. Other research areas include autonomous object avoidance with no operator communication and indoor positioning. These methods will be valuable for explosive disposal, combat surveillance, hazmat cleanup, and search and rescue applications.

UNMANNED MILITARY SOLUTIONS

Tactical Response -
Fast acting and precision response can save lives in military situations. ASI's automated tactical units shield personnel from danger while providing critical advantages against opposing dangers.

Robotic Convoy - Removing soldiers from combat zones to improve efficiency for logistical operations, for example with robotic convoys. ASI's Guideline™ Robotic Convoy System and vehicle automation kits are force multipliers and safety enhancers.

Training/Targeting - Enable moving target, live-fire training for military operations in all branches. Autonomous vehicles can tow targeting skids or can be targets themselves for training missions that target moving vehicle convoys.

 

Security - Improve perimeter or border security by implementing autonomous vehicle technology. Automated ATVs or patrol vehicles can scan for intruders, execute EOD missions, and perform vehicle and personnel inspections at checkpoints. 

 

Robots save lives. Unmanned vehicles provide critical, real-time data, giving soldiers superior tactical advantage in dangerous circumstances. In some cases, robots remove humans completely from danger by allowing them to handle combat situations and perform other tasks from a safe distance.

 

VEHICLE AUTOMATION

 

The ASI vehicle automation kit is a set of universal, rugged automation components that enable robotic steering, transmission, speed, and brake.

 

Mobius™ Command & Control Software:

* Controls multiple vehicles in the proving ground
* Collects testing data
* Monitors vehicle health
* Sets driver performance benchmarks

 

Performs automated testing events, including: durability, destructive rollover, high speed, mileage accumulation, and ADAS.

 

Full Autonomy - Autonomous vehicles improve proving ground safety. Some durability tests are so strenuous that they have hospitalized drivers. Our automation technology allows researchers to protect drivers while still performing rigorous testing events. Researchers also set precise pathways and repeat events multiple times in a row while maintaining high levels of accuracy.

 

Manual Toggle - When transferring vehicles from one event to another and interacting with manned traffic onsite, drivers improve safety by toggling to manual mode, and then back to auto when positioned for testing.

 

Site Management - Using robotic technology, proving ground site managers can set benchmarks to test performance, collect data for reporting and analytics, and monitor vehicle health information. 

 

 

 

ROBOT GUIDANCE PATENT 8,116,921

 

 

United States Patent

8,116,921

Ferrin ,   et al.

February 14, 2012


Follower vehicle control system and method for forward and reverse convoy movement

Abstract

A vehicle control system for causing a follower vehicle to follow a leader may have a tether system mounted to the follower vehicle. The tether system may include a tether having an end adapted to be attached to the leader, a length sensor, and an angle sensor. A path tracking system operatively associated with the tether system determines a path traveled by the leader. A path control system operatively associated with the path tracking system and the follower vehicle causes the follower vehicle to follow the path traveled by the leader. A spacing control system operatively associated with the path tracking system and the follower vehicle causes the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader.


Inventors:

Ferrin; Jeffrey L. (Petersboro, UT), Thayn; Brett (Petersboro, UT), Hornberger; Michael (Petersboro, UT)

Assignee:

Autonomous Solutions, Inc. (Petersboro, UT)

Family ID:

41697118

Appl. No.:

12/238,733

Filed:

September 26, 2008


Prior Publication Data


Document Identifier

Publication Date

US 20100049374 A1

Feb 25, 2010


Related U.S. Patent Documents


Application Number

Filing Date

Patent Number

Issue Date

61189527

Aug 20, 2008

61091273

Aug 22, 2008


 

Current U.S. Class:

701/1 ; 242/390.8; 242/412; 701/494; 701/96

Current CPC Class:

G05D 1/0227 (20130101); G05D 1/0293 (20130101); G05D 1/0272 (20130101); G05D 1/0278 (20130101); G05D 2201/0213 (20130101)

Current International Class:

G05D 1/00 (20060101)


References Cited [Referenced By]


U.S. Patent Documents

5572449

November 1996

Tang et al.

6640164

October 2003

Farwell et al.

7302321

November 2007

Suzuki et al.

2009/0012666

January 2009

Simpson et al.


Other References


Dudek, G., et al., "Experiments in Sensing and Communication for Robot Convoy Navigation," IEEE, 1995, pp. 268-273. cited by other .
Sorensen, David Kristin, et al., "On-Line Optical Flow Feedback for Mobile Robot Localization/Navigation," IEEE, 2003, pp. 1246-1251. cited by other .
Wu, Jianping, et al., "Vehicle to Vehicle Communication Based Convoy Driving and Potential Applications of GPS," IEEE, Autonomous Decentralized System, IEEE, 2002, pp. 212-217. cited by other .
Hedrick, J.K., et al., "Vehicle Modeling and Control for Automated Highway Systems," Tech. Rep., University of California, Berkley, 1993. cited by other .
Tan, Han-Shue, et al., "Vehicle Lateral Warning, Guidance and Control Based on Magnetic Markers: PATH Report of AHSRA Smart Cruise 21 Proving Tests," Tech Rep., University of California, Berkley, 2001. cited by other .
Cowan, Noah, et al., "Vision-based Follow-the-Leader," IEEE, 2003, pp. 1796-1801. cited by other .
Belkhouche, Feihi, et al., "Modeling and Controlling a Robotic Convoy Using Guidance Laws Strategies," IEEE Transactions on Systems, Man and Cybernetics, vol. 35, 2005, pp. 813-825. cited by other .
Debenest, Paulo, et al., "Proposal for Automation of Humanitarian Demining with Buggy Robots," IEEE, 2003, pp. 329-334. cited by other .
Fukushima, Edwardo, F., et al., "A New Flexible Component for Field Robotic System," IEEE Proceedings, 2003, pp. 2583-2588. cited by other .
Hedrick, J.K., et al., "Control Issues in Automated Highway Systems," IEEE, 1994, pp. 21-32. cited by other .
Mariottini, Gian Luca, et al., "Vision-based Localization of Leader-Follower Formations," IEEE, 2005, pp. 635-640. cited by other .
Doh, Nakju, et al., "Accurate Relative Localization Using Odometry," IEEE Proceedings, 2003, pp. 1606-1612. cited by other .
Borenstein, J., et al., "Gyrodometry: A New Method for Combining Data from Gyros and Odometry in Mobile Robots," IEEE, 1996, pp. 423-428. cited by other .
Coulter, R. Craig, "Implementation of the Pure Pursuit Path Tracking Algorithm," Tech. Rep., Carnegie Mellon University, 1992, 11 pages. cited by other.


Primary Examiner: Zanelli; Michael J.
Attorney, Agent or Firm: Fennemore Craig, P.C.


Parent Case Text




REFERENCE TO CO-PENDING PROVISIONAL APPLICATIONS

Applicants hereby claim the benefit of earlier filed co-pending provisional applications, Application No. 61/189,527, filed on Aug. 20, 2008, and Application No. 61/091,273, filed Aug. 22, 2008, both of which are specifically incorporated herein by reference for all that they disclose.


Claims




The invention claimed is:

1. A vehicle control system for causing a follower vehicle to follow a leader, comprising: a tether system mounted to the follower vehicle, said tether system comprising: a tether having an end adapted to be attached to the leader; a length sensor operatively associated with said tether, said length sensor sensing a length of said tether extending between the follower vehicle and the leader; and an angle sensor operatively associated with said tether, said angle sensor sensing an angle between said tether and the follower vehicle; a path tracking system operatively associated with said tether system, said path tracking system determining a path traveled by the leader; a path control system operatively associated with said path tracking system and the follower vehicle, said path control system causing the follower vehicle to follow the path traveled by the leader; a spacing control system operatively associated with said path tracking system and the follower vehicle, said spacing control system causing the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader; and a dead reckoning system operatively associated with the follower vehicle, said path tracking system, and said path control system, said dead reckoning system producing position and heading estimates of the follower vehicle.

2. The system of claim 1, wherein said dead reckoning system comprises an odometer and a steering angle sensor.

3. The system of claim 1, wherein said dead reckoning system comprises an odometer and a heading gyroscope.

4. A vehicle control system for causing a follower vehicle to follow a leader, comprising: a tether system mounted to the follower vehicle, said tether system comprising: a tether having an end adapted to be attached to the leader; a length sensor operatively associated with said tether, said length sensor sensing a length of said tether extending between the follower vehicle and the leader; and an angle sensor operatively associated with said tether, said angle sensor sensing an angle between said tether and the follower vehicle; a path tracking system operatively associated with said tether system, said path tracking system determining a path traveled by the leader; a path control system operatively associated with said path tracking system and the follower vehicle, said path control system causing the follower vehicle to follow the path traveled by the leader; a spacing control system operatively associated with said path tracking system and the follower vehicle, said spacing control system causing the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader; and a direction control system operatively associated with the follower vehicle and said tether system, said direction control system selecting between a forward travel direction and a reverse travel direction for the follower vehicle based on a change in length of said tether.

5. A vehicle control system for causing a follower vehicle to follow a leader, comprising: a tether system mounted to the follower vehicle, said tether system comprising: a tether having an end adapted to be attached to the leader; a length sensor operatively associated with said tether, said length sensor sensing a length of said tether extending between the follower vehicle and the leader; and an angle sensor operatively associated with said tether, said angle sensor sensing an angle between said tether and the follower vehicle, a path tracking system operatively associated with said tether system, said path tracking system determining a path traveled by the leader; a path control system operatively associated with said path tracking system and the follower vehicle, said path control system causing the follower vehicle to follow the path traveled by the leader; a spacing control system operatively associated with said path tracking system and the follower vehicle, said spacing control system causing the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader; and a damper operatively associated with said angle sensor.

6. A vehicle control system for causing a follower vehicle to follow a leader, comprising: a tether mounted to the follower vehicle, said tether having an end adapted to be attached to the leader; length sensing means operatively associated with said tether for sensing a length of said tether extending between the follower vehicle and the leader; angle sensing means operatively associated with said tether for sensing an angle between said tether and the follower vehicle; a path tracking system operatively associated with said length sensing means and said angle sensing means, said path tracking system determining a path traveled by the leader; a path control system operatively associated with said path tracking system and the follower vehicle, said path control system causing the follower vehicle to follow the path traveled by the leader; a spacing control system operatively associated with said path tracking system and the follower vehicle, said spacing control system causing the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader; and a dead reckoning system operatively associated with the follower vehicle, said path tracking system, and said path control system, said dead reckoning system producing position and heading estimates of the follower vehicle.

7. A method for causing a follower vehicle to follow a leader, comprising: connecting the follower vehicle to the leader with a tether; measuring a length of the tether connecting the follower vehicle to the leader; measuring an angle between the tether and the follower vehicle; determining a position of the leader based on the measured length and the measured angle; determining a path traveled by the leader based on a plurality of determined leader positions; steering the follower vehicle so that the follower vehicle substantially follows the path traveled by the leader, wherein steering the follower vehicle comprises: determining an actual position of the follower vehicle; comparing the actual position of the follower vehicle with a desired position of the follower vehicle to determine an off-path error; using the off-path error to calculate a desired curvature; and using the desired curvature to produce a steering command for the follower vehicle; and controlling a velocity of the follower vehicle so that the follower vehicle maintains a predetermined distance from the leader.

8. The method of claim 7, wherein using the off-path error to calculate a desired curvature comprises: establishing a look-ahead length; using the look-ahead length to identify a look-ahead point on the path traveled by the leader; and using the look-ahead point to determine the off-path error.

9. The method of claim 8, wherein the look-ahead length is a function of the velocity of the follower vehicle.

10. A method for causing a follower vehicle to follow a leader, comprising: connecting the follower vehicle to the leader with a tether measuring a length of the tether connecting the follower vehicle to the leader; measuring an angle between the tether and the follower vehicle; determining a position of the leader based on the measured length and the measured angle; determining a path traveled by the leader based on a plurality of determined leader positions; steering the follower vehicle so that the follower vehicle substantially follows the path traveled by the leader; and controlling a velocity of the follower vehicle so that the follower vehicle maintains a predetermined distance from the leader, wherein controlling the velocity of the follower vehicle comprises: determining an actual length between the leader and the follower vehicle, the actual length being measured along the path traveled by the leader; determining a desired length between the leader and the follower vehicle, the desired length being measured along the path traveled by the leader; comparing the actual length and the desired length to determine a vehicle spacing error; and using the vehicle spacing error to control the velocity of the follower vehicle.

11. A method for causing a follower vehicle to follow a leader, comprising: connecting the follower vehicle to the leader with a tether; measuring a length of the tether connecting the follower vehicle to the leader; measuring an angle between the tether and the follower vehicle; determining a position of the leader based on the measured length and the measured angle; determining a path traveled by the leader based on a plurality of determined leader positions; steering the follower vehicle so that the follower vehicle substantially follows the path traveled by the leader; controlling a velocity of the follower vehicle so that the follower vehicle maintains a predetermined distance from the leader; operating the follower vehicle in a reverse travel direction; and steering the follower vehicle in the reverse travel direction to follow in reverse at least a portion of the path traveled by the leader.

12. A method for causing a follower vehicle to follow a leader, comprising: connecting the follower vehicle to the leader with a tether; measuring a length of the tether connecting the follower vehicle to the leader; measuring an angle between the tether and the follower vehicle; determining a position of the leader based on the measured length and the measured angle; determining a path traveled by the leader based on a plurality of determined leader positions; steering the follower vehicle so that the follower vehicle substantially follows the path traveled by the leader; controlling a velocity of the follower vehicle so that the follower vehicle maintains a predetermined distance from the leader; operating the follower vehicle in a reverse travel direction; and steering the follower vehicle in the reverse travel direction based on the measured angle between the tether and the follower vehicle.

13. A method for causing a follower vehicle to follow a leader, comprising: connecting the follower vehicle to the leader with a tether; measuring a length of the tether connecting the follower vehicle to the leader; measuring an angle between the tether and the follower vehicle; determining a position of the leader based on the measured length and the measured angle; determining a path traveled by the leader based on a plurality of determined leader positions; steering the follower vehicle so that the follower vehicle substantially follows the path traveled by the leader; controlling a velocity of the follower vehicle so that the follower vehicle maintains a predetermined distance from the leader; and selecting to operate the follower vehicle in either a forward travel direction or a reverse travel direction for the follower vehicle based on a change in length of said tether.

 

 

CONTACTS

 

Autonomous Solutions, Inc.
990 North 8000 West
Mendon, UT 84325

General Inquiries
ASI Sales
Tel: 866.881.2171 x3
info@asirobots.com

Support Contact
ASI Support
Tel: 866.881.2171 x1141
support@asirobots.com


Website: http://www.asirobots.com

 

  

 

 

 


LINKS & REFERENCE

 

http://www.ipo.gov.uk/

http://patft.uspto.gov/Robots+Guidance

http://www.google.co.in/patents/US4769700

http://www.edisonawards.com

http://www.trademarkia.com/guideline-robotic-convoy-85864421.html

https://twitter.com/ASIRobots/status/329336621256298496

https://showyou.com/v/y-0pKeCxd04Aw/guideline-robotic-convoy-system

http://www.robotxworld.com/asi-guideline-robotic-convoy-system-nominated-as-2013

https://www.facebook.com/video/video.php?v=124026484398947

http://www.edisonawards.com/

http://www.prweb.com/releases/2013/3/prweb10554855.htm

 

 

 

 

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