SYSTEM AND METHOD FOR GENERATION OF AN INNER BOUNDARY OF A WORK AREA
First Claim
1. A method for establishing an inner boundary of a work area, the method comprising the steps of:
- establishing an outer boundary of a work area;
defining an offset between an inner boundary and the outer boundary;
defining a primary reference path with a target angular heading within the work area;
generating secondary reference paths spaced apart from and generally parallel to the primary reference path;
estimating an incident angle of incidence of the vehicle with the outer boundary;
establishing one or more inner boundary points spaced apart from a corresponding segment of the outer boundary by the offset if the incident angle is within a desired angular range, andinterconnecting or using the established inner boundary points to form the inner boundary.
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Accused Products
Abstract
A boundary definer or data processor establishes an outer boundary of a work area and defines an offset between an inner boundary and the outer boundary. A reference path module or data processor defines a primary reference path with a target angular heading within the work area. The reference path module or data processor generates secondary reference paths spaced apart from and generally parallel to the primary reference path. An incident angle estimator estimates an incident angle of incidence of the vehicle with the outer boundary. The former or data processor establishes an inner boundary point spaced apart from the outer boundary by the offset and coextensive with a corresponding one of the reference paths. Further, the former or data processor interconnects the established inner boundary points to form the inner boundary.
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Citations
18 Claims
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1. A method for establishing an inner boundary of a work area, the method comprising the steps of:
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establishing an outer boundary of a work area; defining an offset between an inner boundary and the outer boundary; defining a primary reference path with a target angular heading within the work area; generating secondary reference paths spaced apart from and generally parallel to the primary reference path; estimating an incident angle of incidence of the vehicle with the outer boundary; establishing one or more inner boundary points spaced apart from a corresponding segment of the outer boundary by the offset if the incident angle is within a desired angular range, and interconnecting or using the established inner boundary points to form the inner boundary. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for establishing an inner boundary of a work area, the system comprising the steps of:
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a boundary definer for establishing an outer boundary of a work area, the boundary definer arranged to define an offset between an inner boundary and the outer boundary; a reference path module for defining a primary reference path with a target angular heading within the work area, the reference path module arranged to generate secondary reference paths spaced apart from and generally parallel to the primary reference path; an incident angle estimator for estimating an incident angle of incidence of the vehicle with the outer boundary; and a former for establishing an inner boundary point spaced apart from the outer boundary by the offset if the estimated incident angle falls within a desired angular range, the former configured to interconnect the established inner boundary points to form the inner boundary. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification