Close-spaced leader-follower navigation using control mimic
US8160809B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 26, 2011 |
| Grant date | Apr 17, 2012 |
| Priority date | — |
| Expiry date | May 26, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0295
- WIPO fieldControl
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.