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Method and apparatus for controlling the movement of a guided object

  • US 4,922,430 A
  • Filed: 10/30/1987
  • Issued: 05/01/1990
  • Est. Priority Date: 10/30/1987
  • Status: Expired due to Fees
First Claim
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1. A method for controlling a movement of a first object with respect to a second object, said method comprising the steps of:

  • (a) first representing at least part of a geometrical outline of said second object by a first set of interpenetrating spherical bubbles that each contain a fraction of said part and which together contain all of said part;

    (b) second representing said first set by a second set of spherical bubbles that contains the bubbles of said first set and have larger diameters than the bubbles of said first set, so that said second set contains less bubbles than said first set; and

    (c) calculating the movement of said first object for predicting an impending collision with said second object comprising;

    (i) first determining whether there is an impending penetration of any bubble of said second set; and

    (ii) in case of a positive outcome of said first determining step, second determining whether there is a further impending penetration of any bubble of said first set, whereby a number of calculations is reduced in case of a negative outcome of said second determining step.

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