Follower vehicle control system and method for forward and reverse convoy movement

A vehicle control system for causing a follower vehicle to follow a leader, comprising:

• a tether system mounted to the follower vehicle, the tether system comprising:
• a tether having an end adapted to be attached to the leader;
• a length sensor operatively associated with the tether, the length sensor sensing a length of the tether extending between the follower vehicle and the leader;
• and
• an angle sensor operatively associated with the tether, the angle sensor sensing an angle between the tether and the follower vehicle;
• a path tracking system operatively associated with the tether system, the path tracking system determining a path traveled by the leader;
• a path control system operatively associated with the path tracking system and the follower vehicle, the path control system determining a determined path for the follower vehicle from an actual position of the follower vehicle and a selected travel point on the path traveled by the leader, the path control system causing the follower vehicle to follow the determined path for the follower vehicle;
• and
• a spacing control system operatively associated with the path tracking system and the follower vehicle, the spacing control system causing the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader.

A vehicle control system for causing a follower vehicle to follow a leader, comprising:

• a tether mounted to the follower vehicle, the tether having an end adapted to be attached to the leader;
• a length sensing means operatively associated with the tether for sensing a length of the tether extending between the follower vehicle and the leader;
• an angle sensing means operatively associated with the tether for sensing an angle between the tether and the follower vehicle;
• a path tracking system operatively associated with the length sensing means and the angle sensing means, the path tracking system determining a path traveled by the leader;
• a path control system operatively associated with the path tracking system and the follower vehicle, the path control system determining a determined path for the follower vehicle from an actual position of the follower vehicle and a selected travel point on the path traveled by the leader, the path control system causing the follower vehicle to follow the determined path for the follower vehicle;
• and
• a spacing control system operatively associated with the path tracking system and the follower vehicle, the spacing control system causing the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader.

A method for causing a follower vehicle to follow a leader, comprising:

• connecting the follower vehicle to the leader with a tether;
• measuring a length of the tether connecting the follower vehicle to the leader;
• measuring an angle between the tether and the follower vehicle;
• determining a position of the leader based on the measured length and the measured angle;
• determining a path traveled by the leader based on a plurality of determined leader positions;
• determining a determined path for the follower vehicle from an actual position of the follower vehicle and a selected travel point on the path traveled by the leader;
• steering the follower vehicle so that the follower vehicle substantially follows the determined path for the follower vehicle;
• and
• controlling a velocity of the follower vehicle so that the follower vehicle maintains a predetermined distance from the leader.