Method and apparatus for controlling maneuvers of a vehicle

Details Method and apparatus for controlling maneuvers of a vehicle Method and apparatus for controlling maneuvers of a vehicle

1994-10-14

1999-02-09

Ruggiero, Joseph

Boots, shoes, and leggings

701 26, 395 90, G06F 1900

Patent

active

058703039

ABSTRACT:
Maneuvers of a vehicle, in the presence of obstacles, are planned using a three-dimensional configuration space. Axes of the configuration space correspond to x and y coordinate locations of the rear differential of the vehicle and angle of the vehicle. The configuration space is filled with cost to goal and direction arrows values using an exhaustive search strategy. The direction arrows values point to a least cost path to a goal for the vehicle. The exhaustive search strategy involves searching a bow-tie shaped neighborhood of a goal state, and then a bow-tie shaped neighborhood of each state in the first neighborhood, iterating until all reachable states are searched. A precedence order is established so that states which are blocked are not searched.

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