Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Automatic route guidance vehicle
Patent
1998-12-11
2000-06-20
Cuchlinski, Jr., William A.
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Automatic route guidance vehicle
701 23, 701 1, 701 93, 701 96, 701200, 701301, 342455, 180167, 180168, 180169, G06F 700, G06F 1700, G01S 300, B60T 716
Patent
active
060788496
ABSTRACT:
A three phase control arrangement is employed after visual detection of a target at greater range than otherwise available. The first and last phases employ an optimization criterion for which errors do not vary with distance from a target; limiting the initial error and process error in an intermediate phase which controls approach trajectory to the intended docking location and yielding repeatable high accuracy docking. The three phase approach with different control criteria and control gain parameters makes feasible a docking maneuver that begins at a much greater range and potentially greater lateral separation from the destination than would otherwise be possible, while providing control of both the final location and final orientation of the vehicle. A preferred visual thresholding technique provides consistency of results over a wide range of illumination and contrast conditions while limiting the computation burden for target image acquisition and tracking.
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Brady Daniel G.
Hougen Darrell R.
Kennedy William A
Sobetski Jerome F.
Beaulieu Yonel
Cuchlinski Jr. William A.
Lockheed Martin Corporation
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