Apparatus and method for autonomous vehicle navigation using path data

A system for navigating a vehicle along a predetermined route comprising:

• means for storing route data representing the predetermined route, said route data including a plurality of contiguous path segments, each path segment connecting two nodes;
• means for storing path data for the predetermined route, said path data including postures of the vehicle along each path segment;
• means for retrieving from said route data storing means route data representing the predetermined route;
• means for retrieving from said path data storing means path data for said retrieved route data;
• means for generating a path from said retrieved path data, said path representing at least a portion of said predetermined route;
• means for associating vehicle commands with said path;
• means for executing said associated vehicle commands to cause the vehicle to follow said path;
• means for periodically calculating errors in following said path;
• and
• means, responsive to said calculated errors, for adjusting execution of said associated vehicle commands to reduce said calculated errors so that the vehicle tracks said path with a high degree of accuracy.