System for relative vehicle navigation

System for relative vehicle navigation

This invention relates to a system for relative vehicle navigation, and particularly relates to such a system for use in underground passageways or tunnels, for instance, an underground mine, and to control the movement of vehicles. A navigation system for navigating an autonomous vehicle along a pa...

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Hauptverfasser: Duff, Elliot Stanley, Roberts, Jonathan Michael, Corke, Peter Ian, Cunningham, Jock Bernard
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Sprache:eng
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creator Duff, Elliot Stanley
Roberts, Jonathan Michael
Corke, Peter Ian
Cunningham, Jock Bernard
description This invention relates to a system for relative vehicle navigation, and particularly relates to such a system for use in underground passageways or tunnels, for instance, an underground mine, and to control the movement of vehicles. A navigation system for navigating an autonomous vehicle along a path that is confined by walls that are within range of on-board sensors is described. The system determines the relative location and orientation of the walls with respect to the vehicle. The system controls the steering angle and the ground speed of the vehicle by employing: (a) range data to establish free space in front of vehicle; (b) active contours to generate a desired path; (c) driving hints to guide the active contours along arcs and open areas; (d) steering hints to confine the active contours to a specific domain of free space, at, for instance, intersections; and (e) a desired path to generate steering demand or velocity.
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A navigation system for navigating an autonomous vehicle along a path that is confined by walls that are within range of on-board sensors is described. The system determines the relative location and orientation of the walls with respect to the vehicle. The system controls the steering angle and the ground speed of the vehicle by employing: (a) range data to establish free space in front of vehicle; (b) active contours to generate a desired path; (c) driving hints to guide the active contours along arcs and open areas; (d) steering hints to confine the active contours to a specific domain of free space, at, for instance, intersections; and (e) a desired path to generate steering demand or velocity.</description><language>eng</language><creationdate>2004</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/6694233$$EPDF$$P50$$Guspatents$$Hfree_for_read</linktopdf><link.rule.ids>230,308,780,802,885,64039</link.rule.ids><linktorsrc>$$Uhttps://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/6694233$$EView_record_in_USPTO$$FView_record_in_$$GUSPTO$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>Duff, Elliot Stanley</creatorcontrib><creatorcontrib>Roberts, Jonathan Michael</creatorcontrib><creatorcontrib>Corke, Peter Ian</creatorcontrib><creatorcontrib>Cunningham, Jock Bernard</creatorcontrib><creatorcontrib>Commonwealth Scientific and Industrial Research Organisation</creatorcontrib><title>System for relative vehicle navigation</title><description>This invention relates to a system for relative vehicle navigation, and particularly relates to such a system for use in underground passageways or tunnels, for instance, an underground mine, and to control the movement of vehicles. 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title System for relative vehicle navigation
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