Navigation control system
First Claim
1. A real-time path-directed controller for navigating an object along a desired path, said controller comprising:
- (a) a position sensor, said position sensor producing an object position signal to an object position signal conditioning module, said object position signal conditioning module producing a conditioned object position signal to a controller summer;
(b) a heading conditioning module, said heading conditioning module receiving the object position signal and conditioning the object position signal to produce a conditioned heading signal to the controller summer;
(c) a control apparatus sensor, said control apparatus sensor producing a control apparatus signal to a control apparatus signal conditioning module, said control apparatus signal conditioning module producing a conditioned control apparatus signal to the controller summer; and
(d) a controller summer summing the conditioned object position signal, the conditioned heading signal, and the conditioned control apparatus signal to produce a controller summer signal to a controller summer conditioning module so as to produce a control apparatus control signal to a control apparatus controller so as to direct the control apparatus and thereby direct the object by feedback control along the desired path.
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Abstract
A real-time path-directed controller for navigating an object along a desired path is disclosed. The controller comprises: a position sensor which contributes to the production of a conditioned object position signal to a controller summer; a heading conditioning module which contributes to the production of a conditioned heading signal to the controller summer; a control apparatus sensor which contributes to the production of a conditioned control apparatus signal to the controller summer; and a control apparatus null position conditioning module which contributes to the production of a conditioned null position signal to the controller summer. The controller summer sums the signals to produce a controller summer signal to a controller summer conditioning module so as to produce a control apparatus control signal to a control apparatus controller so as to direct the control apparatus and thereby direct the object by feedback control along the desired path.
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Citations
2 Claims
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1. A real-time path-directed controller for navigating an object along a desired path, said controller comprising:
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(a) a position sensor, said position sensor producing an object position signal to an object position signal conditioning module, said object position signal conditioning module producing a conditioned object position signal to a controller summer;
(b) a heading conditioning module, said heading conditioning module receiving the object position signal and conditioning the object position signal to produce a conditioned heading signal to the controller summer;
(c) a control apparatus sensor, said control apparatus sensor producing a control apparatus signal to a control apparatus signal conditioning module, said control apparatus signal conditioning module producing a conditioned control apparatus signal to the controller summer; and
(d) a controller summer summing the conditioned object position signal, the conditioned heading signal, and the conditioned control apparatus signal to produce a controller summer signal to a controller summer conditioning module so as to produce a control apparatus control signal to a control apparatus controller so as to direct the control apparatus and thereby direct the object by feedback control along the desired path.
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2. A controller as shown and described in this specification.
Specification