Obstacle avoidance system
First Claim
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1. A system for avoiding obstracles in a first path of a vehicle, comprising:
- sensor means having a field of view with a plurality of sectors for detecting the distance of objects within each sector;
means, responsive to said sensor means, for identifying obstructed sectors in which objects are detected within a predetermined range; and
means, responsive to said means for identifying, for selecting an unobstructed sector close in alignment to the direction of the first path to designate around the object an unobstructed second path which is close to the first path.
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Abstract
A system for avoiding obstacles in the path of a vehicle including a sensor assembly having a field of view with a plurality of sectors for detecting the distance of objects within each sector. The system further includes an element for identifying obstructed sensors in which objects are detected within a predetermined range and a device for selecting an unobstructed sector close in alignment to the direction of the path to designate around the object a clear path which is close to the original path.
167 Citations
19 Claims
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1. A system for avoiding obstracles in a first path of a vehicle, comprising:
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sensor means having a field of view with a plurality of sectors for detecting the distance of objects within each sector; means, responsive to said sensor means, for identifying obstructed sectors in which objects are detected within a predetermined range; and means, responsive to said means for identifying, for selecting an unobstructed sector close in alignment to the direction of the first path to designate around the object an unobstructed second path which is close to the first path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An obstacle avoidance system for use with a robot having a body which has an azimuthal angle that is optimally fixed in space and provides the basic reference to the outside world, a drive system including wheels for enabling movement of the robot, and a synchronous steering mechanism which turns the wheels independently of the body to face them toward the direction of travel, comprising:
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sensor means, disposed in the body, having a field of view with a plurality of sectors for detecting the distance of objects within each sector; means, responsive to said sensor means, for identifying obstructed sectors in which objects are detected within a predetermined range; and means, responsive to said means for identifying, for selecting an unobstructed sector close in alignment to the direction of a first path of the robot to designate around the object an unobstructed second path which is close to the first path. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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Specification