Method for collision avoidance with the assistance of a steering angle field for an autonomous mobile unit

US5913919A · kind A · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Rudolf Bauer · Hallerndorf, DE
• Wendelin Feiten · Neubiberg, DE

Key dates

• Filing date: Nov 21, 1997
• Grant date: Jun 22, 1999
• Expiry date: Nov 21, 2017

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/0238
• WIPO field: Control
• WIPO sector: Instruments

Abstract

An improved method for the orientation of autonomous mobile units is provided. Collision distances to obstacles are thereby calculated on the basis of the steering and drive geometry of the movable unit. On the basis of these distances, allowed steering angle ranges for the unit are defined. Additionally, a defined observation horizon is prescribed for the sensor equipment of the unit. The obstacles to be evaluated are within this horizon. Moreover, a safety zone is defined around the unit in which no obstacles can be located; otherwise, travel in reverse is triggered. For route optimization of the unit, steering angle ranges that derive from different observation horizons and safety zones are combined on a case-by-case basis. By reducing the safety margin only in narrow passages down to the housing contour of the unit in the extreme case, the maximum steering angle can be utilized. As a result thereof, a greatest possible degree of maneuverability is also assured between obstacles residing close to one another.