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Systems and Methods for Obstacle Avoidance

  • US 20120046820A1
  • Filed: 08/18/2011
  • Published: 02/23/2012
  • Est. Priority Date: 10/21/2005
  • Status: Active Grant
First Claim
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1. A method for directing a robotic vehicle to follow an object, the method comprising:

  • identifying an object for the robotic vehicle to follow;

    estimating a robotic vehicle position relative to a previous position and a movement of the object;

    estimating a range position of the object;

    receiving a position of the object;

    determining whether the object is located within the estimated range position;

    calculating a trajectory set based in part on the object position, wherein the trajectory set comprises a plurality of trajectories;

    assigning a preference value for each of the trajectories; and

    providing the trajectory set to a drive arbiter.

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