Method and apparatus for vehicle control, navigation and positioning

A method for providing navigation for at least a first slave vehicle, wherein the first slave vehicle navigates based on a location of a master vehicle, the method comprising the steps of:

• a first slave vehicle:
• receiving a location of a master vehicle;
• receiving a location of the first slave vehicle;
• determining a desired position of the first slave vehicle based on the master vehicle location including determining a first fixed point relative to the master vehicle location;
• determining if adjustments are needed to position the first slave vehicle at the desired position including determining if the first slave vehicle is located at the first fixed point;
• and
• implementing the adjustments if adjustments are needed.

A method for providing navigation for at least a first slave vehicle, wherein the first slave vehicle navigates based on a location of a master vehicle, the method comprising the steps of:

• a first slave vehicle:
• receiving a location of a master vehicle;
• receiving a location of the first slave vehicle;
• determining a desired position of the first slave vehicle based on the master vehicle location including
• receiving at least a first portion of a master vehicle path;
• receiving at least a first portion of a master vehicle path;
• generating at least a first portion of a first slave vehicle path based on the at least the first portion of the master vehicle path;
• determining if adjustments are needed in maintaining the first slave vehicle on the first slave vehicle path;
• determining if adjustments are needed in maintaining the first slave vehicle on the first slave vehicle path and/or to position the first slave vehicle at the desired position;
• and
• implementing the adjustments if adjustments are needed.

A method for vehicle navigation, comprising the steps of:

• a first slave vehicle:
• receiving a location of a master vehicle;
• receiving a location of the first slave vehicle, including receiving at least a portion of master vehicle path;
• determining a desired location of the first slave vehicle, including
• determining at least a portion of a first slave path relative to the at least the portion of the master vehicle path, wherein the desired location is relative to the master vehicle location and wherein the first slave path is offset from the master vehicle path;
• determining adjustments to be made by the first slave vehicle to reach the desired location;
• and
• implementing the adjustments.

A method for vehicle navigation, comprising the steps of:

• a first slave vehicle;
• receiving a location of a master vehicle;
• receiving a location of the first slave vehicle;
• determining a desired location of the first slave vehicle, including
• determining a first slave vehicle desired destination point offset from the location of the master vehicle, wherein the desired location is relative to the master vehicle location;
• determining adjustments to be made by the first slave vehicle to reach the desired location;
• and
• implementing the adjustments.

A method for vehicle navigation, comprising the steps of:

• a first slave vehicle:
• receiving a location of a master vehicle;
• receiving a location of the first slave vehicle;
• receiving first offset coordinates;
• determining a desired location of the first slave vehicle, including
• determining a first fixed point based on the location of the master vehicle and the first offset coordinates, wherein the desired location is relative to the master vehicle location;
• determining adjustments to be made by the first slave vehicle to reach the desired location;
• and
• implementing the adjustments.

A method for vehicle navigation, comprising the steps of:

• a first slave vehicle:
• receiving a location of a master vehicle;
• receiving a location of the first slave vehicle;
• receiving first offset coordinates;
• determining a desired location of the first slave vehicle, including
• determining a first fixed point based on the location of the master vehicle and the first offset coordinates, wherein the desired location is relative to the master vehicle location;
• determining adjustments to be made by the first slave vehicle to reach the desired location;
• implementing the adjustments;
• and
• a second slave vehicle:
• receiving second offset coordinates;
• receiving the location of the master vehicle;
• receiving a location of the second slave vehicle;
• determining a desired location of the second slave vehicle, wherein the desired location is relative to the master vehicle location;
• determining adjustments to be made by the second slave vehicle to position the second slave vehicle at the desired location;
• and
• implementing the adjustments.

A first slave vehicle including an apparatus for navigating the first slave vehicle, comprising:

• a means for receiving a location of a master vehicle and a location of a first slave vehicle;
• a means for determining a desired position of the first slave vehicle based on the master vehicle location where the means for determining the desired position couples with the means for receiving, the means for determining a desired position including a means for determining a desired destination point relative to the master vehicle location;
• a means for determining if adjustments are needed to position the first slave vehicle at the desired position couples with the means for determining the desired position and the means for receiving the location of the slave vehicle, the means for determining if adjustments are needed including a means for determining an optimal course to acquire the desired destination point, wherein the optimal course is not limited to a master vehicle course;
• and
• a means for implementing the adjustments if adjustments are needed coupled with the means for determining if adjustments are needed.

A first slave vehicle including an apparatus for navigating the first slave vehicle, comprising:

• a means for receiving a location of a master vehicle and a location of a first slave vehicle;
• a means for determining a desired position of the first slave vehicle based on the master vehicle location where the means for determining the desired position couples with the means for receiving, the means for determining the desired position including a means for determining a master vehicle path coupled with a means for determining a first slave vehicle path;
• a means for determining if adjustments are needed to position the first slave vehicle at the desired position couples with the means for determining the desired position and the means for receiving the location of the slave vehicle, the means for determining if adjustments are needed including a means for comparing the slave vehicle location with the slave vehicle path coupled with both the means for receiving the location of the slave vehicle and the means for determining the slave vehicle path;
• and
• a means for implementing the adjustments if adjustments are needed coupled with the means for determining of adjustments are needed.

An apparatus for providing vehicle navigation, comprising:

• a communication controller configured to at least receive location information for at least a master vehicle and a slave vehicle;
• a location generator coupled with the communication controller, and configured to determine locations of at least the master vehicle relative to the position of the slave vehicle;
• and
• a trajectory controller configured to control the trajectory of the slave vehicle coupled with the location generator, and configured to determine a desired location of the slave vehicle relative to the location information of both the master vehicle and the slave vehicle and further including a destination point calculator configured to determine a desired destination point relative to the master vehicle.

The computer readable medium containing instructions, which, when executed by a at least a first processor performs the following steps:

• a first slave vehicle:
• receiving a location of a master vehicle;
• receiving a location of the first slave vehicle;
• determining a desired location of the first slave relative to the master vehicle location including determining a desired destination point;
• determining adjustments to be made by the first slave vehicle such that the first slave vehicle positions itself at the desired location including determining an optimal course to acquire the desired destination point;
• and
• implementing the adjustments.

A computer readable medium containing instructions, which, when executed by at least a first processor performs the following steps:

• a first slave vehicle:
• receiving a location of a master vehicle;
• receiving a location of the first slave vehicle;
• determining a desired location of the first slave vehicle relative to the master vehicle location including determining a fixed point relative to the location of the master vehicle;
• determining adjustments to be made by the first slave vehicle such that the first slave vehicle positions itself at the desired location including determining a trajectory of both the master vehicle and the slave vehicle and further determining if the slave vehicle trajectory is parallel with the master vehicle trajectroy;
• and
• implementing the adjustments.

The computer readable medium containing instructions, which, when executed by a at least a first processor performs the following steps:

• a first slave vehicle:
• receiving a location of a master vehicle including receiving at least a portion of a master vehicle path;
• receiving a location of the first slave vehicle;
• determining a desired location of the first slave vehicle relative to the master vehicle location including generating at least a portion of a slave vehicle path based on the at least a portion of the master vehicle path;
• determining adjustments to be made by the first slave vehicle such that the first slave vehicle positions itself at the desired location including determining if the slave vehicle location is included within the slave vehicle path;
• and
• implementing the adjustments.