Method for automatic avoidance of collisions between a craft and further objects

Abstract

A method for controlling the motion of an object for the avoidance of collisions with obstacles includes: detecting of at least one non-stationary or stationary obstacle; defining a safety zone around the obstacle which moves together with the obstacle; detecting whether the obstacle, including its safety zone, is in a collision course with the object; calculating an avoidance trajectory, which by-passes the obstacle, such that the avoidance trajectory, at least approximately, is circularly shaped and that the circularly-shaped avoidance trajectory, or a straight line tangentially linked thereto, is tangent to the safety zone around the obstacle; and driving the object such that it follows, at least approximately, the calculated avoidance trajectory, whereby the calculated avoidance trajectory is tangentially linked to the previous trajectory.

Dependencies are inferred from the claim text.