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Obstacle-avoiding navigation system

  • US 5,006,988 A
  • Filed: 04/28/1989
  • Issued: 04/09/1991
  • Est. Priority Date: 04/28/1989
  • Status: Expired due to Fees
First Claim
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1. A method of operating a vehicle to avoid an obstacle in a field of operation, the method comprising the steps of:

  • installing in a first memory first data defining a first array of first grid cells, each for holding data corresponding to a respective value, said first grid cells in said first array corresponding to respective predetermined subfields in the field of operation;

    scanning one of said subfields in the field of operation for determining the presence of an obstacle therein;

    incrementing said value in a first grid cell in said first array corresponding to said scanned one of said subfields in response to a signal responsive to said step of scanning indicating a likelihood that an obstacle is present in said scanned one of said subfields;

    defining a region of operation in the vicinity of the vehicle; and

    computing a plurality of vectorial values, each vectorial value being responsive to the location of each first grid cell in said first array within said defined region of operation, with respect to the location of the vehicle, and said values in said first grid cells.

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