System for dynamically determining position of multiple automati

Details System for dynamically determining position of multiple automati System for dynamically determining position of multiple automati

1988-10-31

1990-05-15

Ro, Bentsu

Electricity: motive power systems

Positional servo systems

Vehicular guidance systems with single axis control

318580, B62D 124, G05D 102

Patent

active

049261037

ABSTRACT:
The invention is a method of dynamic collision avoidance for multiple automatically guided vehicles (AGVs) on bidirectional paths. It calculates windows, or areas of computer memory, against which it matches the reported positions of AGVs. The invention acts on information from a central data base in which the factory or operating space of the AGVs is mapped and from AGV position updates supplied by an independently operating visual navigation system. The invention dynamically calculates the locations and dimensions of the windows for each position update. Since these position updates occur in real time, many times each second, the invention provides the means for the AGV system's controller to prevent collisions between the AGVs and other objects without minimizing the degrees of freedom of AGV movement.

REFERENCES:
patent: 4680811 (1987-07-01), Harper et al.
patent: 4807127 (1989-02-01), Tenmoku et al.
patent: 4821192 (1989-04-01), Taivalkoski et al.

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