Claims
- 1. A navigation method for a self-guiding vehicle, the method comprising the steps of:
- providing a navigation reference point;
- determining a reference path having said navigation reference point;
- storing said reference path and a position of said navigation reference point in the self-guiding vehicle;
- transforming said stored reference path into nominal control values S.sub.nominal and .alpha..sub.nominal ;
- moving the self-guiding vehicle in response to said nominal control value S.sub.nominal ;
- setting a steering angle of the self-guiding vehicle in response to said nominal control value .alpha..sub.nominal ;
- measuring actual movement S.sub.actual of the self-guiding vehicle
- measuring an actual steering angle .alpha..sub.actual of the self-guiding vehicle;
- measuring a deviation between said navigation reference point and the self-guiding vehicle as the self-guiding passes said navigation reference point;
- determining if the self-guiding vehicle is away from said reference path;
- calculating a correction path to lead the self-guiding vehicle to said reference path if the self-guiding vehicle is away from said reference path, said measured actual movement, said measured actual steering angle and said measured deviation being used for said calculating of said correction path;
- transforming said correction path into updated nominal control values S.sub.nominal and .alpha..sub.nominal ;
- moving the self-guiding vehicle in response to said updated nominal control value S.sub.nominal ;
- setting a steering angle of the self-guiding vehicle in response to said updated nominal control value .alpha..sub.nominal in order for the self-guiding to navigate.
- 2. A navigation method according to claim 1, further comprising the steps of:
- providing another navigation reference point positioned in said reference path;
- storing a position of said another navigation reference point in the self-guiding vehicle;
- measuring another deviation between said another navigation reference point and the self-guiding vehicles as the self-guiding passes said another navigation reference point;
- calculating an absolute regular position of the self-guiding vehicle from said measured deviation and said another measured deviation; and
- said another measured deviation and said absolute angular position of the self-guiding vehicle for said calculating of said correction path.
- 3. A navigation method according to claim 1, wherein:
- said measuring of said deviation is between a substantially center of said navigation reference point and a substantially longitudinal axis of the self-guiding vehicle.
- 4. A navigation method according to claim 1, further comprising the steps of:
- providing an external computer;
- transforming said reference path into space coordinates with said external computer; and
- downloading said navigation reference point and said transformed reference path into the self-guiding vehicle.
- 5. A navigation method according to claim 1, further comprising the steps of: p1 providing a plurality of navigation reference points positioned in said reference path;
- storing positions of said plurality of navigation reference points in the self-guiding vehicle;
- measuring a deviation between each of said plurality of navigation reference points and the self-guiding vehicle as the self-guiding passes each of said plurality of navigation reference points;
- calculating an absolute angular position of the self-guiding vehicle at each of said plurality of navigation reference points, said calculating of said absolute angular position using said measured deviation of a present navigation reference point and a measured deviation of a previous navigation reference point; and
- using said absolute angular position of the self-guiding vehicle, said measured deviation of said present navigation reference point and said measured deviation of said previous navigation reference point for said calculating of said correction path, and said correction leading to a subsequent navigation reference point.
- 6. A navigation method according to claim 5, further comprising the steps of:
- spacing said plurality of navigation reference points at one of regular and/or irregular distances apart.
- 7. A navigation method according to claim 5, further comprising the steps of:
- presetting at each of said plurality of navigation reference points a safety section S.sub.max representing one of a time and/or distance within which a subsequent navigation reference point must be detected; and
- stopping the self-guiding vehicle if said subsequent navigation reference point is not detected within said safety section S.sub.max.
- 8. A navigation method according to claim 5, further comprising the steps of:
- transforming said reference path and said position of said plurality of navigation reference points into a set of geometric data in a spatially fixed system of coordinates x, y;
- providing additional feedback into a space control loop substantially simultaneously with said moving of the self-guiding vehicle in response to said nominal control value S.sub.nominal and said setting of said steering angle of the self-guiding vehicle in response to said nominal control value .alpha..sub.nominal, said providing of said additional feedback being performed by transforming said measured actual movement and said measured actual steering angle into space coordinates x, y and absolute angular position .gamma., and controlling one of said movement and/or said steering angle in dependence upon said space coordinates; and
- continuously repeating said calculating of said correction path and providing feedback during further travel of the self-guiding vehicle.
- 9. A navigation method according to claim 8, further comprising the steps of:
- continuously calculating space coordinates x', y', .gamma.', of the self-guiding vehicle from said S.sub.actual and .alpha..sub.actual during said moving of the self-guiding vehicle from a present navigation reference point to a subsequent navigation reference point.
Parent Case Info
This is a divisional of application Ser. No. 07/503,869 filed Apr. 3, 1990 now U.S. Pat. No. 5,154,298.
US Referenced Citations (6)
Divisions (1)
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Number |
Date |
Country |
Parent |
503869 |
Apr 1990 |
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