Rapid adjustment of trajectories for land vehicles
AssigneeIntegriNautics Corporation
InventorsMichael L. O Connor, Thomas Bell, Michael L. Eglington, Lars Leckie, Gregory M. Gutt, Kurt R. Zimmerman
Life of this patent
Estimating the term…
Abstract
A method for adjusting a desired trajectory of an automatically guided vehicle guidance system to match a physical constraint such as an obstacle or boundary. The method works around obstacles and boundaries as they occur, consistent with the original trajectory. The method is independent of the type of vehicle. The method may be used regardless of whether the vehicle is under automatic guidance, and the method has a low computational cost.
Claims21
A system to directly maintain a vehicle on a desired path responsive to user-determined deviation therefrom, the system comprising:
- a sensor to determine position of said vehicle as a function of time;
- a controller including memory, functionally coupled to said sensor;
- said memory storing-positional data defining said desired path, and further storing program instructions, executable by said controller, to compute any change in position of said vehicle and to compute any modifications in realtime to maintain said vehicle on said desired path responsive to any user-determined deviation;
- means, coupled to said controller, for maintaining said vehicle according to said any modifications computed by said executable program;
- and
- means for enabling a user of said vehicle to-input to said system said user-determined deviation from said desired path, whereupon said system responds to said user-determined deviation from said desired path and maintains said vehicle responsive to said user-determined deviation.
A system to directly control and maintain a farm vehicle on a desired predetermined path responsive to user-determined deviation therefrom, the system comprising:
- a sensor to determine position of said farm vehicle as a function of time;
- a controller including memory, functionally coupled to said sensor;
- said memory storing positional data defining said desired predetermined path, and further storing program instructions, executable by said controller, to compute any change in position of said vehicle and to compute any modifications in realtime to maintain said farm vehicle on said desired predetermined path responsive to any user-determined deviation;
- means, coupled to said controller, for maintaining said farm vehicle on said desired predetermined path, responsive to any user-determined deviation, according to any change computed by said executable program;
- and
- means for enabling a user of said farm vehicle to input to said system said user determined deviation from said desired predetermined path, whereupon said system responds to said user-determined deviation from said desired path and maintains said vehicle according to said user-determined deviation.
A system to directly maintain a vehicle on a desired path responsive to user-determined deviation therefrom, the system comprising:
- means for sensing the position of said vehicle as a function of time;
- means for controlling including memory, functionally coupled to said means for sensing;
- said memory storing positional data defining said desired path, and further storing program instructions, executable by said means for controlling, to compute any change in position of said vehicle and to compute any modifications in realtime to maintain said vehicle on said desired path responsive to any-user-determined deviation;
- means, coupled to said means for controlling, for maintaining said vehicle according to any modifications computed by said executable program;
- and
- means for enabling a user of said vehicle to input to said system said user-determined deviation from said desired path, whereupon said system responds to said user-determined deviation from said desired path and controls and maintains said vehicle responsive to said user-determined deviation.
Dependencies are inferred from the claim text.