The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 02, 2025
Filed:
Feb. 22, 2023
The Boeing Company, Arlington, VA (US);
Daniel Michael O'Shea, Seattle, WA (US);
Shawn M. Chamberlain, Federal Way, WA (US);
The Boeing Company, Arlington, VA (US);
Abstract
A trajectory planning system for a refueling boom includes a human-machine interface ('HMI') device and an electronic control unit (“ECU”). The HMI device outputs electronic control signals, in response to which the ECU performs a method. The ECU accesses a three-dimensional (“3D”) boundary model of the receiver and a 3D model of the boom. The ECU calculates a boom-to-receiver relative position using the models and sensor data, and a planned trajectory between a boom tip and a receptacle on the receiver. The trajectory is calculated using the boom-to-receiver relative position and predictive artificial potential fields. A point is found on a baseline trajectory farthest from a straight line between the receptacle and boom tip, which is recorded as a temporary goal. The planned trajectory avoids contact between the boom and receiver features. The ECU executes a control action using the planned trajectory.