Data processing: vehicles – navigation – and relative location – Relative location – Collision avoidance
Patent
1997-11-21
1999-06-22
Chin, Gary
Data processing: vehicles, navigation, and relative location
Relative location
Collision avoidance
701 23, 318587, 180169, G06F16500
Patent
active
059139196
ABSTRACT:
An improved method for the orientation of autonomous mobile units is provided. Collision distances to obstacles are thereby calculated on the basis of the steering and drive geometry of the movable unit. On the basis of these distances, allowed steering angle ranges for the unit are defined. Additionally, a defined observation horizon is prescribed for the sensor equipment of the unit. The obstacles to be evaluated are within this horizon. Moreover, a safety zone is defined around the unit in which no obstacles can be located; otherwise, travel in reverse is triggered. For route optimization of the unit, steering angle ranges that derive from different observation horizons and safety zones are combined on a case-by-case basis. By reducing the safety margin only in narrow passages down to the housing contour of the unit in the extreme case, the maximum steering angle can be utilized. As a result thereof, a greatest possible degree of maneuverability is also assured between obstacles residing close to one another.
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Bauer Rudolf
Feiten Wendelin
Chin Gary
Siemens Aktiengesellschaft
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