Boots – shoes – and leggings
Patent
1995-05-01
1997-11-04
Park, Collin W.
Boots, shoes, and leggings
3644442, 3644491, 318587, G06F16500
Patent
active
056846967
ABSTRACT:
A system and method for enabling an autonomous vehicle to track a desired path plans a continuous path to return to the desired path when the vehicle deviates from the desired path. The continuous path is determined based on the vehicle's position, the desired path, and a lookahead distance. The lookahead distance is the distance on the desired path within which the continuous path and the desired path converge. The lookahead distance may vary as a function of vehicle speed. In one embodiment of the present invention, the continuous path is determined as a quintic polynomial.
REFERENCES:
patent: 4309758 (1982-01-01), Halsall et al.
patent: 4709195 (1987-11-01), Hellekson et al.
patent: 4727492 (1988-02-01), Reeve et al.
patent: 4772832 (1988-09-01), Okazaki et al.
patent: 4786164 (1988-11-01), Kawata
patent: 4809178 (1989-02-01), Ninomiya et al.
patent: 4821192 (1989-04-01), Taivalkoski et al.
patent: 4849731 (1989-07-01), Melocik
patent: 4986384 (1991-01-01), Okamoto et al.
patent: 5172315 (1992-12-01), Asanuma et al.
patent: 5229941 (1993-07-01), Hattori
Bose, "GPS/PLRS Aided Inertial Land Navigation System Performance," IEEE Plans '86 Position Location and Navigation Symposium, Nov. 4-7, 1986, Las Vegas, pp. 496-504.
Conway et al., "Tele-Autonomous Systems: Methods and Architectures For Intermingling Autonomous and Telerobotic Technology," Proceedings 1987 IEEE International Conference on Robotics and Automation, Journal of Robotics and Automation, Mar. 31-Apr. 3, 1987, Raleigh, vol. 2, pp. 1121-1130.
De Menthon, "A Zero Bank Algorithm for Inverse Perspective of a Road from a Single Image," Proceedings 1987 IEEE International Conference on Robotics & Automation, Mar. 31-Apr. 2, 1987, pp. 1444-1449.
Dickinson et al., "An Expert Vision System for Autonomous Land Vehicle road Following," Proceedings PR'88, The Computer Society Conference on Computer Vision and Pattern Recognition, Jun. 5-9, 1988, pp. 826-831.
Isik et al., "Pilot Level of a Hierarchical Controller for an Unmanned Mobile Robot," IEEE Journal of Rootics and Automation, vol. 4, No. 3, Jun. 1988, New York, pp. 241-255.
Kuan et al., "Autonomous Vehicle Road Following," IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 10, No. 5, Sep., 1988, New York, pp. 648-658.
Le Moigne, "Domain-Dependent Reasoning for Visual Navigation of Roadways," IEEE Journal of Robotics & Automation, vol. 4, No. 4, Aug., 1988, New York, pp. 419-427.
Schuhman et al., "Applicability of an Augmented GPS for Navigation in the International Airspace System," Proceedings of the IEEE, No. 11, Nov., 1989, pp. 1709-1727.
"A Locomotion Control System for Mobile Robots" by Jun'ichi Iijima, Yutaka Kanayama, Shin'ichi Yuta -Japan, No Date.
"A New Laboratory Facility for Measuring Vehicle Parameters Affecting Understeer and Brake Steer" Nedley/Wilson (SAE 1972).
"Evaluation and Time-Scaling of Trajectories for Wheeled Mobile Robots" by Timothy Graettinger/Bruce Krogh, Carnegie Mellon Univ, No Date.
"Integrated Path Planning and Dynamic Steering Control for Autonomous Vehicles" by Bruce Krogh/Charles Thorpe (1985 IEEE).
"Linear and non-linear steady state vehicle handling" by J.C. Dixon, Open University, Buckinghamshire (Proc Instn Mech Engr), 1988.
"Personal Kinematic Modeling for Feedback Control of an Omni-Directional Wheeled Mobile Robot"; Patrick Muir/Charles Neuman, 1987.
"Satisficing Feedback Strategies for Local Navigation of Autonomous Mobile Robots" by Dal Feng (Carnegie Mellon 1989).
"Supervisory Control of a Multilegged Robot" by David Orin Int'l. Journal of Robotics Research (1982).
"The Influence of Vehicle Design Parameters on Characteristic Speed and Understeer" by Thomas Bundorf (SAE 1967).
"Three Models of Preview Control" by Thomas Sheridan (IEEE Transactions on Human Factors in Electronics) Jun. 1966.
"Introduction to Robotics Mechanics & Control" by John J. Craig, pp. 200-203, 1988.
"Process Control Systems" (Application Design Adjustment) by F. G. Shinskey, pp. 218-229, 1967.
"The International Symposium and Exposition on Robots" by R. A. Jarvis, pp. 314-327, (Proceedings of Phillip McKerrow), 1979.
IEE Int'l Symposium on Intell. Control, "A Cognitive Preview Control Strategy for Unmanned Vehicle Steering and Cruise Guidance", pp. 122-128, 1987.
Translations of the ASME (Jun.'79), "Optimal Digital State Vector Feed back Controller with Integral & Preview Actions" by Tomizuka/Rosenthal.
Verification of Translation by Midori Motooka, "Automatic Steering Control System" by Shigehiro Yamamoto, pp. 1-11, 1987.
Verification of Translation by Midori Motooka, "Control System for Unattended Transporting Vehicle" by Junichi Watanabe, pp. 1-23, 1983.
Bradbury Walter J.
Devier Lonnie J.
Kemner Carl A.
Kleimenhagen Karl W.
Koehrsen Craig L.
Caterpillar Inc.
Park Collin W.
LandOfFree
System and method for enabling an autonomous vehicle to track a does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with System and method for enabling an autonomous vehicle to track a , we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and System and method for enabling an autonomous vehicle to track a will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-1837995