Close-spaced leader-follower navigation using control mimic

Details Close-spaced leader-follower navigation using control mimic Close-spaced leader-follower navigation using control mimic

2006-12-07

2011-12-27

Keith, Jack (Department: 3663)

Data processing: vehicles, navigation, and relative location

Navigation

Determination of along-track or cross-track deviations

C701S004000, C340S967000, C340S961000, C342S063000, C342S030000

Reexamination Certificate

active

08086396

ABSTRACT:
A method is provided for automatically controlling a first vehicle (follower vehicle) that is to follow a second vehicle (leader vehicle) in a desired manner with respect to movement of the second vehicle. In the follower vehicle, bearing and acceleration control inputs are generated based on data representing bearing and acceleration control inputs made at the leader vehicle and a position of the follower vehicle relative to the leader vehicle so as to mimic in the follower vehicle the bearing and acceleration control inputs made in the leader vehicle. Adjustments may be made to the control inputs applied in the follower vehicle based on deviation between the velocity of the follower vehicle and velocity of the leader velocity, and on deviation between estimated (actual) follow distance and lateral offset and target follow distance and lateral offset between the follower vehicle and the leader vehicle.

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