Method and apparatus for controlling movement of autonomous mobile machine, machine, and storage medium
US11662736B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 3, 2018 |
| Grant date | May 30, 2023 |
| Priority date | — |
| Expiry date | Sep 3, 2038 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2556/50
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Provided is a method for controlling movement of an autonomous mobile machine. The method includes that: a target path and a current state of the autonomous mobile machine are acquired; at least one preview distance is calculated according to a current speed; at least one preview point each corresponding to a respective one of the at least one preview distance is acquired according to the target path and the at least one preview distance; a lateral deviation from each preview point to a current position is calculated; a direction control angle parameter of a current control period is acquired according to the lateral deviation, the current speed and a preset parameter matching table; and the autonomous mobile machine is controlled to move according to the direction control angle parameter. Also provided are an apparatus for controlling movement of an autonomous mobile machine, a machine and a storage medium.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.