Boots – shoes – and leggings
Patent
1989-04-28
1991-04-09
Black, Thomas G.
Boots, shoes, and leggings
180169, 31856816, G06F 1550
Patent
active
050069888
ABSTRACT:
A system for guiding an autonomous or semi-autonomous vehicle through a field of operation having obstacles thereon to be avoided employs a memory for containing data which defines an array of grid cells which correspond to respective subfields in the field of operation of the vehicle. Each grid cell in the memory contains a value which is indicative of the likelihood, or probability, that an obstacle is present in the respectively associated subfield. The values in the grid cells are incremented individually in response to each scan of the subfields, and precomputation and use of a look-up table avoids complex trigonometric functions. A further array of grid cells is fixed with respect to the vehicle form a conceptual active window which overlies the incremented grid cells. Thus, when the cells in the active window overly grid cell having values which are indicative of the presence of obstacles, the value therein is used as a multiplier of the precomputed vectorial values. The resulting plurality of vectorial values are summed vectorially in one embodiment of the invention to produce a virtual composite repulsive vector which is then summed vectorially with a target-directed vector for producing a resultant vector for guiding the vehicle. In an alternative embodiment, a plurality of vectors surrounding the vehicle are computed, each having a value corresponding to obstacle density. In such an embodiment, target location information is used to select between alternative directions of travel having low associated obstacle densities.
REFERENCES:
patent: 4628453 (1986-12-01), Kamejima et al.
patent: 4652803 (1987-03-01), Kamejima et al.
patent: 4674048 (1987-06-01), Okumura
patent: 4750123 (1988-06-01), Christian
patent: 4799267 (1989-01-01), Kamejima et al.
Borenstein Johann
Koren Yoram
Levine Simon P.
Black Thomas G.
University of Michigan
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