Automated operatorless vehicles

• US 4,465,155 A
• Filed: 06/17/1981
• Issued: 08/14/1984
• Est. Priority Date: 06/17/1981
• Status: Expired due to Term

• Current Assignee: Marshall S. Collins
• Original Assignee: Marshall S. Collins
• Inventors: Collins, Marshall S.
• Primary Examiner(s): Mitchell, David M.
• Assistant Examiner(s): McCarthy, Joseph G.
• Application Number:
  US06/274,658
• Time in Patent Office: 1,154 Days
• Field of Search: 180/169, 180/167, 180/131, 180/168, 318/587, 340/686, 340/23, 340/24, 340/33, 364/443-444, 364/448-450, 364/424, 364/436, 343/7 VM, 299/1
• US Class Current: 180/169
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A vehicle guidance control system is described for an operatorless vehicle comprising a sensor for determining the presence of defined points along a selected path that the vehicle is to travel, a memory having a plurality of locations, each location for receiving one of a set of commands whereby the vehicle may be commanded to turn, pause, or to continue its movement. An address circuit is responsive to the detection of a point for addressing the corresponding location within the memory means, whereby command stored therein is executed to effect vehicle control. The vehicle guidance control system is adapted to guide the vehicle along a selected path within a set of corridors as would be found in a mine, wherein the corridors are disposed respectively along X and Y directions to form thereby a series of intersection points. The sensor means is disposed upon at least one side of the vehicle to sense the presence of an intersecting corridor, the address circuit accesses the location of the memory circuit corresponding to the detected point of intersection of the mine corridors to access the vehicle command stored at that location. The control guidance system includes a second location within the memory circuit for retaining the location of the vehicle in terms of its X,Y coordinate position within the grid of corridors, the output of the sensor serving to update the stored current vehicle position. Upon reaching an intersection of corridors, the second memory location is also updated as to the current location of the vehicle.

Claims

1. A vehicle guidance control system for controlling the movement of a vehicle along a selected path through an arrangement of corridors comprising a first corridor and a second corridor intersecting said first corridor, said second corridor extending on either side of said first corridor, the vehicle disposed within one of said first and second corridors, said vehicle guidance system comprising:

(a) first and second sensors disposed respectively at a leading position and a trailing position with respect to the movement of the vehicle along said selected path and on a single side of the vehicle, said first and second sensors providing respectively first and second signals, each indicative of the distance from the said single side of the vehicle to a corridor surface disposed adjacent to said single side; and

(b) comparison means for comparing said first and second signals and if said first signal is greater by a predetermined amount than said second signal, for providing a signal indicative of the presence of the other of said first and second corridors.

2. A vehicle guidance control system as claimed in claim 1, wherein there is a plurality of first corridors disposed substantially parallel to each other and a plurality of second corridors disposed substantially parallel with each other and to intersect said first corridors.

3. A vehicle guidance control system as claimed in claim 2, wherein said second corridors intersect said first corridors to define a potential control point at each point of such intersection, and said vehicle guidance control system further comprising memory means having a plurality of storage locations corresponding to said plurality of potential control points, each of said storage locations storing a command for directing vehicle operation.

4. A vehicle guidance control system as claimed in claim 3, wherein said potential control points are arrayed in a grid of X,Y coordinate points, and there is further included means for storing a manifestation of the current vehicle position in terms of its current X,Y coordinate position and responsive to the occurrence of said other corridor presence signal for updating the stored current vehicle manifestation within said storing means, and addressing means responsive to the updated, current vehicle position for addressing one of said plurality of storage locations, whereby the vehicle directing command stored in said addressed storage location is utilized to effect vehicle guidance.

5. A vehicle guidance control system as claimed in claim 1, wherein a third corridor intersects said one corridor to form a T-shaped intersection, and there is further included a third sensor disposed at a leading position on a second side of the vehicle opposite to said single side for providing a third signal indicative of the distance from the vehicle to a corridor surface disposed adjacent to said other side of the vehicle, said comparison means further responsive to said third signal and, if the difference between said first and third signals is greater than a predetermined amount, for providing a signal indicative of the presence of said T-shaped intersection.

6. A vehicle guidance control system as claimed in claim 5, wherein there is included a fourth sensor disposed at a trailing position on said second side of the vehicle for providing a fourth signal indicative of the distance from the vehicle to the corridor surface disposed adjacent said second side of the vehicle, and said comparison means responsive to said fourth signal for providing the signal indicative of the presence of said other corridor if said third signal is greater by a predetermined amount than said fourth signal.

17. The vehicle guidance control system as claimed in claim 6, wherein said control means comprises means for storing a manifestation indicative of the current vehicle direction within said X, Y grid of coordinate points.

7. A vehicle guidance control system for controlling the movement of a vehicle along a path having potentially therein obstacles of a first type requiring vehicle avoidance and obstacles of a second type not requiring vehicle avoidance, said vehicle guidance system comprising:

(a) first and second sensors disposed on a leading end of the vehicle for transmitting energy signals and for receiving reflected energy signals from the obstacles to provided corresponding first and second output signals indicative of the reflected energy signals, the obstacles of said second type presenting similar reflective surface to said energy signals as transmitted from each of said first and second sensors;

(b) means for comparing said first and second output signals to determine whether the wave forms of said first and second output signals are symmetric with respect to each other indicating a like scattering of the reflected energy signals as sensed by said first and second sensors, to provide a first vehicle avoidance signal indicating the presence of the obstacle of said first type; and

(c) control means responsive to said first vehicle avoidance control signal for controlling the movement of the vehicle to avoid contact with the obstacle of the first type.

8. A vehicle guidance control system as claimed in claim 7, wherein the obstacles of said second type comprise a curtain disposed substantially perpendicular to said path and presenting a substantially flat surface to each of the transmitted energy signals from said first and second sensors.

9. A vehicle guidance control system as claimed in claim 8, wherein there is included memory means comprising a plurality of first locations for storing manifestations of the positions of obstacles of said second type along the path, and a second updateable location for storing a signal indicative of the current position of the vehicle along the path, and means for comparing said current position signal with said obstacle location manifestations and, if there is a match therebetween, for providing a second vehicle avoidance signal.

10. A vehicle guidance control system as claimed in claim 9, wherein there is further included means responsive only to both of said first and second vehicle avoidance signals for controlling the movement of the vehicle to avoid contact with the obstacle of said first type.

11. A vehicle guidance control system as claimed in claim 10, wherein said control means is responsive to said first vehicle avoidance signal for bringing the vehicle to a stop.

12. A vehicle guidance control system for controlling the movement of a vehicle along a selected path to a variable destination point, said vehicle guidance control system comprising:

(a) vehicle steering means responsive to control signals for effecting vehicle guidance along said path;

(b) updateable memory means for storing in an addressable area a manifestation indicative of the location of said variable destination point;

(c) first communication means associated with said variable destination point for transmitting a signal indicative of a current position of the destination point;

(d) second communication means associated with the vehicle for receiving the transmitted destination point signal;

(e) said first communication means transmits repetitively a data ready signal, said second communication means for receiving said data ready signal and, upon reception, for transmitting in response thereto an initiate data transmission signal, said first communication means responsive to the receipt of said initiate data transmission signal for terminating the transmission of its data ready signal and for transmitting its signal indicative of the current position of said variable destination point; and

(f) control means for updating said addressable area with said received destination point signal and for providing said control signals in accordance with said received and stored destination point signal, whereby the vehicle is guided to said variable destination point.

13. A vehicle guidance control system as claimed in claim 12, wherein there is further included a second vehicle having a second vehicle guidance control system for controlling the movement of said second vehicle to and from said variable destination point, the second vehicle proceeding toward said variable destination point and the first-mentioned vehicle is moving along its path from said variable destination point, said second vehicle guidance control system comprising:

(a) second vehicle steering means responsive to control signals for effecting guidance of the second vehicle;

(b) second updateable memory means for storing in an addressable area a manifestation indicative of the location of said variable destination point;

(c) third communication means associated with the second vehicle;

(d) said second communication means for transmitting said previously received and stored destination point signal, and said third communication means for receiving said destination point signal transmitted from said second communication means and for disposing it in said addressable area of its second updateable memory means; and

(e) second control means for updating for providing control signals in accordance with said received and stored destination point signal, whereby the second vehicle is guided to said new variable destination.

14. A vehicle guidance control system as claimed in claim 13, wherein each of said first-mentioned and said second updateable memory means comprises a second area for respectively storing first and second manifestations of first and second "wait and see" points respectively;

said first-mentioned and said second control means responsive to its "wait and see" point manifestations for providing control signals whereby its vehicle is guided to its "wait and see" point and brought to a stop thereat;

said second communication means upon stopping of the first vehicle at its first "wait and see" point, operable to periodically transmit a first data ready signal;

said third communication means upon stopping of the second vehicle at its second "wait and see" point, operable to receive said first data ready signal and upon reception of said first data ready signal, for transmitting a first initiate data transmission signal;

said second communication means responsive to the receipt of said first initiate transmission signal for terminating the transmission of said first data ready signal and for transmitting its destination point signal;

said third communication means for receiving said first-mentioned transmitted destination point signal and for updating said first-mentioned addressable area of said second updateable means with said received destination point signal and for providing control signals in accordance with said received and stored destination point signal, whereby the second vehicle is guided to said new variable destination point.

15. A vehicle guidance control system for controlling the movement of a vehicle along a variable, selected path defined by a sequence of points selected from an array of points, each point of said array being defined by first and second coordinates, said vehicle guidance system comprising:

(a) sensing means for determining the presence of one of said points as the vehicle passes thereby and for providing a point manifestation indicative thereof;

(b) vehicle steering means responsive to control signals for effecting vehicle guidance; and

(c) control means for generating and applying said control signals to said vehicle steering means, said control means comprising;

(1) means for storing a manifestation of the current vehicle position in terms of said first and second coordinates as it moves along and responsive to the occurrence of a point manifestation for updating said first and second coordinates of said current vehicle manifestation;

(2) memory means having a plurality of storage locations corresponding to said array of points, selected of said storage locations storing a command for directing vehicle operation, each storage location of said memory means being addressable in terms of its first and second coordinates; and

(3) addressing means responsive to said first and second coordinates of said current vehicle position for addressing one of said plurality of storage locations, whereby the vehicle directing command stored in said addressed storage location is applied to said vehicle steering means to effect vehicle guidance.

16. The vehicle guidance control system as claimed in claim 15, wherein said array of points is laid out as a grid of X, Y coordinate points and said memory means is configured as a matrix of storage locations in accordance with said grid of X, Y coordinate points, each storage location of said memory means being addressable in terms of its X and Y coordinates.

18. The vehicle guidance control system as claimed in claim 16, wherein said current vehicle position storing means stores the current vehicle position in terms of its X coordinate and its Y coordinate in corresponding X,Y storage locations.

19. The vehicle guidance system as claimed in claim 18, wherein the vehicle is adapted for movement through corridors aligned in accordance with said grid of X,Y coordinate points, and comprising a plurality of X corridors and a plurality of Y corridors disposed to intersect with said X corridors, said sensing means comprising first and second sensors disposed respectively at a leading position and a trailing position with respect to the movement of the vehicle along said path and on a single side of the vehicle, said first and second sensors providing respectively, first and second signals, each indicative of the distance from the vehicle to a surface of the corridor disposed adjacent to said single side, and comparison means for comparing said first and second signals and if said first signal is greater by a predetermined amount than said second signal, for providing the point manifestation.

20. The vehicle guidance control system as claimed in claim 15, wherein a command to be stored within a selected storage location of said memory means comprises a turn command, whereby said control means applies control signals to said vehicle steering means to effect a turn of the vehicle.

21. The vehicle guidance control system as claimed in claim 20, wherein a command to be stored within a selected storage location of said memory means is a stop command, whereby said control means applies a control signal to bring the vehicle to a halt.

22. The vehicle guidance control system as claimed in claim 20, wherein a command stored within a selected storage location of said memory means comprises a proceed command, whereby said control means continues to direct the movement of the vehicle along a selected path without change.

23. The vehicle guidance control system as claimed in claim 15, wherein a command to be stored within a selected storage location of said memory means comprises a turn command including a new vehicle direction to be assumed by the vehicle after said turn command has been executed.

24. The vehicle guidance control system as claimed in claim 23, wherein said control means updates said vehicle direction manifestation storing means with a new vehicle direction after said turn command has been executed.

25. The vehicle guidance control system as claimed in claim 24, wherein said vehicle direction manifestation may be positive or negative within the context of said grid of X,Y coordinate points, said control means responsive to a positive vector direction manifestation to increment said current vehicle position manifestation as stored in said current vehicle position storing means and responsive to a negative vector to decrement said current vehicle position manifestation.

26. The vehicle guidance control system as claimed in claim 23, wherein said storing means comprises first means for storing the X coordinate of the current vehicle position and second means for storing the Y coordinate of the current vehicle position, and means responsive to the occurrence of a point manifestation and its present vehicle direction to update one of said X and Y coordinates dependent upon said present vehicle direction.

27. The vehicle guidance control system as claimed in claim 15, wherein said control means comprises means for storing a first X,Y coordinate position indicative of the starting point of said selected path and a second X,Y coordinate position indicative of the terminating point of said selected path.

28. A vehicle guidance control system for controlling the movement of a vehicle along a selected path defined by a vehicle direction and a sequence of points selected from an array of points, each point being defined by first and second coordinates, said vehicle guidance control system comprising:

(a) sensing means for determining the presence of a point as the vehicle passes thereby and for providing a point manifestation indicative thereof;

(b) vehicle steering means responsive to control signals for effecting vehicle guidance; and

(c) control means for generating and applying said control signals to said vehicle steering means, said control means comprising;

(1) first and second means for storing respectively the first and second coordinates defining the current vehicle position;

(2) means responsive to the occurrence of a point manifestation and to the current vehicle direction for updating one of said first and second coordinates dependent upon the current vehicle direction;

(3) memory means having a plurality of storage locations corresponding to said array of points, each of said storage locations storing selected ones of a plurality of commands for directing vehicle operation, each storage location of said memory means being addressable in terms of its first and second coordinates, said commands comprising a turn command and a new vehicle direction to be assumed by the vehicle after said turn command has been executed; and

(4) addressing means responsive to said first and second coordinates of said current vehicle position for addressing one of said plurality of storage locations, whereby the vehicle directing commands stored in said one addressed storage location is applied to said vehicle steering means to effect vehicle guidance.

29. The vehicle guidance control system as claimed in claim 28, wherein there is included a third means for storing the current vehicle direction and responsive to the completion of said turn command for storing the new vehicle direction.

30. The vehicle guidance control system as claimed in claim 29, wherein said vehicle direction may be positive or negative, said updating means responsive to a positive vehicle direction for incrementing one of said first and second coordinates corresponding to its current vehicle direction and responsive to a negative vehicle direction for decrementing one of said first and second coordinatess corresponding to its current vehicle direction.

31. The vehicle guidance control system as claimed in claim 28, wherein each of said plurality of storage locations is capable of storing a plurality of commands for directing distinct vehicle operations.

32. The vehicle guidance control system as claimed in claiim 31, wherein there is further included detection means responsive to an input signal transmitted from a remote location for providing a vehicle control manifestation, and said addressing means is responsive to the current vehicle position for addressing one of said plurality of storage locations and to said vehicle control manifestation for selecting one of said addressed plurality of vehicle directing commands dependent thereon.

33. The vehicle guidance control system as claimed in claim 32, wherein said detection means comprises radio receiver means for receiving the transmitted input signal.

34. The vehicle guidance control system as claimed in claim 32, wherein said plurality of vehicle directing commands includes a "wait and see" command, said control means comprises means responsive to said "wait and see" command for accessing said detection means to initiate receipt of the transmitted input signal and responsive thereto for selection of which of said plurality of commands stored at said addressed storage location to be executed for control of said vehicle guidance.

35. A vehicle guidance control system for controlling the movement of a vehicle along a path having potentially therein obstacles of a first type requiring vehicle avoidance and obstacles of a second type not requiring vehicle avoidance, said vehicle guidance system comprising:

(a) first and second sensors disposed on a leading end of the vehicle for transmitting first and second energy signals and for receiving reflected energy signals from the obstacles to provide corresponding first and second output signals indicative of the reflected energy signals, each of said first and second energy signals having substantially similar phase components, the first type of obstacle reflecting said first and second energy signals with substantially similar phase transformations, the second type of obstacle reflecting said first and second energy signals with substantially different phase transformations;

(b) means for comparing the phase components of said first and second output signals to determine whether the phase components of said first and second signals are substantially different, and if so, indicating the detection of an obstacle of the first type for providing a vehicle avoidance signal; and

(c) control means responsive to said vehicle avoidance control signal for controlling the movement of the vehicle to avoid contact with the obstacle of the first type.

36. A vehicle guidance control system for controlling the movement of a vehicle along a selected path to a variable destination point, said vehicle guidance control system comprising:

(a) vehicle steering means responsive to control signals for effecting vehicle guidance along said path;

(b) memory means for storing in an addressable area a manifestation indicative of the current location of the current destination point;

(c) first communication means associated with said variable destination point for transmitting a signal indicative of a new position of the destination point;

(d) second communication means associated with the vehicle for receiving the transmitted destination point signal; and

(e) control means comprising means for updating said addressable area with said received new destination point signal and means for determining a new path to said new destination point in accordance with the received and stored new destination point signal.

37. A vehicle guidance control system for controlling the movement of a vehicle along a selected path, said path directed in part through a first corridor and in part through an intersection of said first corridor with a second corridor, said first corridor haing first and second side surfaces disposed substantially parallel to and spaced relatively close to the respective lateral sides of the vehicle, said second corridor extending on either side of said corridor, said vehicle guidance control system comprising:

(a) vehicle steering means responsive to control signals for guiding the vehicle along said selected path;

(b) first and second sensors disposed respectively at a leading position and a trailing position with respect to the movement of the vehicle along said path and on a single side of the vehicle, said first and second sensors providing respectively first and second signals, each indicative of the distance from said single side of the vehicle to a corridor surface disposed adjacent to its sensor;

(c) gyro means disposed on the vehicle for providing a vector manifestation indicative of the direction in which the vehicle is moving; and

(d) control means responsive to said first and second signals and operative in a first mode when said first and second signals are substantially equal for providing control signals to said vehicle steering means to maintain the vehicle moving along a median of said first corridor, and in a second mode when one of said first and second signals exceeds the other by a predetermined amount, for utilizing said vector manifestation of said gyro means to provide control signals to said vehicle steering means whereby the vehicle is guided through said intersection.

38. A vehicle guidance control system as claimed in claim 37, wherein a third sensor is disposed at a leading position with respect to the movement of the vehicle along said path on a second side of the vehicle opposite said first mentioned side, said third sensor providing a third signal indicative of the distance of said second side of the vehicle to a corridor surface disposed adjacent thereto.

39. A vehicle guidance control system as claimed in claim 38, wherein said control means operates in its first mode to provide control signals whereby the difference between said first and third signals is directed toward a minimum.

40. A vehicle guidance control system as claimed in claim 38, wherein a fourth sensor is disposed at a trailing portion with respect to the movement of the vehicle along said path on said second side of the vehicle, said fourth sensor providing a fourth signal indicative of the distance from said second side of the vehicle to a corridor surface disposed ajdacent thereto.

41. A vehicle guidance control system as claimed in claim 40, wherein said control means operates in its first mode to provide control signals tending to reduce the difference between said second and fourth signals towards a minimum, whereby the vehicle is guided along a median of said first corridor.

42. A vehicle guidance control system as claimed in claim 41, wherein a third corridor intersects said first corridor in a T-shaped intersection, said control means examines said first, second, third and fourth signals and upon occurrence of one of the following:

said first signal exceeds by a predetermined amount said third signal, said third signal exceeds by a predetermined amount said first signal, said second signal exceeds by a predetermined amount said fourth signal, and said fourth signal exceeds by a predetermined amount said second signal, said control means indicates the presence of said third corridor and is operative in said second mode.

43. A vehicle guidance control system for controlling the movement of a vehicle along a selected path through an arrangement of corridors comprising a first corridor and a second corridor intersecting said first corridor, said second corridor intersects said first corridor to form a T-shaped intersection therewith, the vehicle initially disposed within said first corridor, said vehicle guidance control system comprising:

(a) first and second sensors disposed respectively on first and second sides of the vehicle, said first and second sensors providing respectively first and second signals, each indicative of the distance from its side of the vehicle to a corridor surface disposed adjacent to the vehicle; and

(b) comparison means for comparing said first and second signals and, if said first signal is greater by a predetermined amount than said second signal;

for providing a signal indicative of the vehicle'"'"'s entering said second corridor.

44. A vehicle guidance system as claimed in claim 43, where said arrangement of corridors includes a third corridor intersecting said first corridor and extending on either side of said first corridor, and there is further included a third sensor disposed at trailing position with respect to and on said same side of the vehicle as said first sensor, said third sensor providing a third signal indicative of the distance to the corridor surface adjacent to said first side of the vehicle, said comparison means comparing said first and third signals and if said first signal is greater by a predetermined amount than said third signal, for providing a signal indicative of the vehicle entering said third corridor.

45. A vehicle guidance control system for controlling the movement of a vehicle along a variable selected path defined by a sequence of points selected from an array of points, each point of said array being defined by first and second coordinates, said sequence of points defining said path including at least one destination point, a first flag indicating that said vehicle is approaching said destination point and a second flag indicating that said vehicle is going away from said destination point, said vehicle guidance system comprising:

(a) sensing means for determining the presence of one of said points as the vehicle passes thereby and for providing a point manifestation indicative thereof;

(b) vehicle steering means responsive to control signals for effecting vehicle guidance; and

(c) control means for generating and applying said control signals to said vehicle steering means, said control means comprising;

(1) means for storing a manifestation of the current vehicle position in terms of said first and second coordinates as it moves along said path and responsive to the occurrence of a point manifestation for updating said first and second coordinates of said current vehicle manifestation;

(2) means for storing one of said first and second flags;

(3) means responsive to the vehicle'"'"'s passage of said destination point for setting and storing said second flag in said storing means;

(4) memory means having a plurality of storage locations corresponding to said array of points, selected of said storage locations storing a plurality of commands for directing vehicle operation, each storage location of said memory being addressable in terms of said first and second coordinates; and

(5) addressing means responsive to said first and second coordinates of said current vehicle position for addressing one of said plurality of storage locations, and responsive to one of said first and second flags as stored in said flag storing means for selecting which of said addressed plurality of commands to be applied to said vehicle steering means to effect vehicle guidance.

46. The vehicle guidance control system as claimed in claim 45, wherein there is included a second vehicle having a second vehicle guidance control system for controlling the movement of said second vehicle to and from said destination point, said second vehicle guidance control system comprising:

(a) second sensing means for determining the presence of one of said points as the second vehicle passes thereby and providing a second point manifestation indicative thereof;

(b) second vehicle steering means responsive to second control signals for effecting the guidance of the second vehicle;

(c) second control means for generating and applying said second control signals to said second vehicle steering means, said second control means comprising;

(1) second means for storing a second manifestation of the current vehicle position of the second vehicle in terms of said first and second coordinates as it moves along said path and responsive to the occurrence of a second point manifestation for updating said first and second coordinates of said second current vehicle manifestation;

(2) second means for storing one of said first and second flags;

(3) second means responsive to the passage of said destination point by the second vehicle for setting and storing said second flag in said second flag storing means;

(4) second memory means having a plurality of storage locations corresponding to said array of points, selected of said storage locations storing a plurality of commands for directing vehicle operation, each storage location of said second memory means being addressable in terms of said first and second coordinates; and

(5) second addressing means responsive to said first and second coordinates of the current vehicle position of the second vehicle for addressing one of said plurality of storage locations of said second memory means, and responsive to one of said first and second flags as stored in said second flag storing means for selecting which of said addressed plurality of commands to be applied to said second vehicle steering means to effect vehicle guidance of the second vehicle; and

(d) each of said first mentioned and said second control means comprising respectively first and second communication means for transmitting and receiving data indicative of said first and second coordinates of said destination point, and transmission initiation means responsive to the presence of said second flag for initiating the corresponding of said first and second communication means to transmit a signal indicative of said first and second coordinates of said destination point to said communication means of the other of the first and second vehicles.

47. A guidance control system for controlling the movements of first and second vehicles along selected first and second paths respectively, each of said first and second vehicles having a vehicle guidance control system comprising:

(a) vehicle steering means responsive to control signals for effecting vehicle guidance along its path;

(b) updateable memory means for storing in an addressable area a manifestation indicative of whether said vehicle is a slave vehicle or a master vehicle;

(c) communication means operative in a transmitting mode for transmitting vehicle guidance signals and in a reception mode for receiving vehicle guidance signals; and

(d) control means responsive to said master car manifestation for directing the master vehicle to a first point along its selected path and, after the master vehicle has reached said point, for disposing its communication means in its transmitting mode to transmit vehicle control signals to the slave vehicle, and responsive to said slave car manifestation for directing the slave car vehicle to a second location along its selected path distinct from said first location and for disposing its communication means to a reception mode to receive the vehicle guidance signals transmitted by said communication means of the master vehicle.

48. A vehicle guidance control system for controlling the movement of the vehicle along a variable selected path defined by a sequence of points selected from an array of points, said vehicle guidance system comprising:

(a) sensing means for determining the presence of one of said points as the vehicle passes thereby and providing a point manifestation indicative thereof;

(b) vehicle steering means responsive to control signals for effecting vehicle guidance; and

(c) control means for generating and applying said control signals to said vehicle steering means, said control means comprising;

(1) means for storing a manifestation indicative of the current vehicle position and responsive to the occurrence of a point manifestation for updating the current vehicle manifestation;

(2) memory means having a plurality of storage locations corresponding to said array of points, selected of said storage locations storing a turn command for effecting a vehicle turn so that the vehicle proceeds along a completed turn vector indicative of the direction in which the vehicle is heading after the turn has been completed;

(3) gyro means disposed on the vehicle for providing a current vector indicative of the direction in which the vehicle is presently moving;

(4) addressing means responsive to the current vehicle position for addressing one of said plurality of storage locations to read out and execute a turn command; and

(5) comparing means responsive to said turn command for accessing said gyro means to obtain and compare said current vector with said completed turn vector to determine whether said turn is complete.

49. The vehicle guidance control system as claimed in claim 48, wherein said comparing means supplies control signals to said vehicle steering means to effect vehicle turning if the turn is not complete.

50. The vehicle guidance control system as claimed in claim 49, wherein said control means comprises means for determining whether said vehicle steering means is effecting a maximum turn and, if not, for supplying control signals to said vehicle steering means to effect an increase of turning.

51. A vehicle guidance control system as claimed in claim 50, wherein there is included a first plurality of said first corridors, each first corridor disposed substantially parallel with each other and a second plurality of said second corridors, each second corridor disposed to intersect said first corridor to define a plurality of intersection points, and said control means comprising means for storing a manifestation of the current vehicle position as it moves along said median path, memory means having a plurality of storage locations corresponding to said intersection points, each of said storage locations storing a command for directing vehicle operation, and addressing means responsive to the occurrence of said corridor entrance signal for addressing one of said plurality of storage locations, in accordance with said current vehicle position manifestation, whereby said vehicle directing command stored in said addressed storage location is applied to said vehicle steering means to effect vehicle guidance.

52. A vehicle guidance control system as claimed in claim 50, wherein there is included gyro control means responsive to said corridor entrance signal for providing a vector direction signal to said vehicle steering means to maintain the movement of the vehicle along a direction as previously determined by said gyro control means.

53. A vehicle guidance control system as claimed in claim 52, wherein said control means is operative in a first mode to provide said control signals in accordance with said difference between said first and second signals and upon the occurrence of said corridor entrance signal, to operate in a second mode to generate control signals in response to said vector direction signal provided by said gyro means when last operative in said first mode.

54. A vehicle guidance control system as claimed in claim 53, wherein said control means comprises means associated with said gyro control means for storing the current vector direction signal, and upon operating in said second mode, for utilizing the stored vector direction signal to generate and apply said control signals to said steering means to control the movement of the vehicle through said other intersecting corridor.

55. A vehicle guidance control system for controlling the movement of a vehicle along a median path through a corridor, said corridor having first and second side surfaces disposed substantially parallel respectively to opposing first and second lateral sides of the vehicle, said vehicle guidance control system comprising:

(a) vehicle steering means responsive to control signals for effecting vehicle guidance along said median path;

(b) first and second sensors disposed respectively on said first and second lateral sides of the vehicle, said first and second sensors providing respectively first and second signals, each of said first and second signals being indicative of the respective distance from its lateral side to its corridor side surface;

(c) third and fourth sensors disposed at a trailing position from said first and second sensors with respect to the movement of the vehicle along said median path and on said first and second lateral sides of the vehicle respectively, said third and fourth sensors providing respectively third and fourth signals, each of said third and fourth signals being indicative of the respective distance from its lateral side to its corridor side surface;

(d) control means for providing said control signals in accordance with the differences respectively between said first and second signals and said third and fourth signals and for applying said control signals to said vehicle steering means to maintain the vehicle disposed on the median path, said control means provides said control signals to direct said vehicle steering means such that the differences respectively between said first and second signals, and third and fourth signals is minimized, said control means being responsive to said first, second, third and fourth signal for periodically providing said control signals calculated in a least-squares nature to maintain the vehicle disposed on said median path, said control means comprises means for determining any one of the following conditions;

said first signal is in excess of said second signal by a predetermined amount, said second signal is in excess of said first signal by a predetermined amount, said third signal is in excess of said fourth signal by a predetermined amount, and said fourth signal is in excess of said third signal by a predetermined amount, to provide a corridor entrance signal indicating that the vehicle is proceeding along one of first and second corridors and has entered an intersection with the other of said first and second corridors.