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Land vehicle guidance method and apparatus

  • US 4,322,670 A
  • Filed: 04/02/1979
  • Issued: 03/30/1982
  • Est. Priority Date: 10/07/1977
  • Status: Expired due to Term
First Claim
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1. In a guided ground vehicle having sensor means for sensing deviations of said sensor means from a reference path having a straight portion and a curved portion, command signal forming means responsive to signals from said sensor means for providing steering command signals which vary in accordance with a predetermined function of the position of said sensor means relative to said path, and steering means responsive to said command signals for steering said vehicle, the combination of:

  • turning control means operative while said vehicle travels along said curved portion of said path for modifying said steering command signals by an amount substantially inversely commensurate with the radius of curvature of said curved portion.

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