Guiding an untracked vehicle along a predetermined guide path

Details Guiding an untracked vehicle along a predetermined guide path Guiding an untracked vehicle along a predetermined guide path

1976-03-30

1978-05-09

Schaefer, Robert K.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

180 98, G05B 1936

Patent

active

040889394

ABSTRACT:
Three sensing coils are located on a vehicle, staggered longitudinally in known distances from each other along the vehicle. The sensing coils pick up the field of a conductor buried in the surface over which the vehicle is to operate and energized with a-c at an audio frequency. From the three output signals derived from the three coil pairs, the radius of curvature of the guide path is computed and the steering deflection of the steering wheels of the vehicle is controlled by the computed radius of curvature to steer the vehicle along the radius; the computed radius of curvature signal may also be used to control other operating parameters, such as vehicle speed; average coil deviation signals may additionally be introduced into the steering control signal, which operates a steering servo, to additionally compensate for minor deviations of the vehicle from the guide path.

REFERENCES:
patent: 3638751 (1972-02-01), Moll

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