Energy-based approach for obstacle avoidance

Details Energy-based approach for obstacle avoidance Energy-based approach for obstacle avoidance

1998-11-30

2000-10-17

Nguyen, Tan

Data processing: vehicles, navigation, and relative location

Relative location

Collision avoidance

701300, 701302, 701120, 701171, 307 91, G06F 900, G06N 700

Patent

active

061345024

ABSTRACT:
A method for determining an alternate path by a mobile machine to avoid at least one obstacle. The method includes the steps of assigning an initial value of charge to the mobile machine, assigning a value of charge to a desired destination, determining the presence and the locations of at least one obstacle, and assigning a value of charge to each determined obstacle. The method further includes the steps of determining a force vector equation for each of the desired destination and each obstacle with respect to the mobile machine, determining a resultant force vector as a function of the force vector equations, and controlling the steering and movement of the mobile machine in response to the resultant force vector.

REFERENCES:
patent: 5252912 (1993-10-01), Merritt et al.
patent: 5961568 (1999-10-01), Farahat
patent: 6008546 (1999-12-01), Sage
patent: 6049756 (2000-04-01), Libby
patent: 6061610 (2000-05-01), Boer

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