Route tracking method for mobile vehicle
US11334083B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 30, 2019 |
| Grant date | May 17, 2022 |
| Priority date | — |
| Expiry date | Dec 24, 2039 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2520/28
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A path tracking method is provided. The path tracking method includes obtaining a current location and a current traveling direction of the mobile vehicle, and determining a traveling path along which the mobile vehicle travels to a destination based on the current location and the current traveling direction; simplifying the mobile vehicle into a differential model, establishing a forward objective function of the differential model in the traveling path, and obtaining an optimal solution of the forward objective function; and controlling a speed of the mobile vehicle corresponding to the differential model by using the optimal solution as an optimal differential control variable, until the mobile vehicle reaches the destination. The path tracking method is simple in calculation, adopts algorithms that is naturally stable, and is used in combination with integrated navigation, thereby ensuring stability and reliability of tracking.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.