Electricity: motive power systems – Positional servo systems – Vehicular guidance systems with single axis control
Patent
1996-12-03
1999-07-06
Martin, David
Electricity: motive power systems
Positional servo systems
Vehicular guidance systems with single axis control
31856812, 901 1, 701 23, B64C 1318
Patent
active
059201720
ABSTRACT:
With the improved path finding method a self-propelled mobile unit determines a path around obstacles. A heuristic avoidance strategy is used, whereby the mobile unit, when encountering an obstacle, first evades by taking a first direction and implements an avoidance procedure up to a limit value if it cannot move around the obstacle. Subsequently, the unit returns to the point of departure of the avoidance maneuver and attempts to evade in the other direction. If it is likewise not possible to move around the obstacle in this direction before the limit value is reached, the barrier for the deviation in the avoidance maneuver is incremented. The unit then again attempts to move around the obstacle, first in the original avoidance direction. The limit value is increased again after respectively two more abortive attempts. The procedure is implemented until a path around the obstacle has been found and the destination can be reached. This avoids situations wherein a self-propelled mobile unit remains captured in an endless loop due to an avoidance maneuver in front of an extensive obstacle, whereby it attempts to move around the obstacle toward the right and toward the left but is prevented by the evasion limit from covering enough distance to move around the obstacle.
REFERENCES:
patent: 4662854 (1987-05-01), Fang
patent: 5107946 (1992-04-01), Kamimura et al.
patent: 5502638 (1996-03-01), Takenaka
patent: 5545960 (1996-08-01), Ishikawa
patent: 5642489 (1997-06-01), Bland et al.
IEEE Transactions on Robotics Automation, vol. 7, No. 4, Aug. 1991, "Histogrammic Motion Mapping for Mobile Robot Obstacle Avoidance", J. Borenstein and Yoram Koren, pp. 535-539.
Schildkrote, Elektor Heft 1, Jan. 1974, pp. 1-36 to 1-42. untranslated.
Martin David
Siemens Aktiengesellschaft
LandOfFree
Path finding method for a self-propelled mobile unit does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Path finding method for a self-propelled mobile unit, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Path finding method for a self-propelled mobile unit will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-901904