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Navigation system and process for guiding unmanned industrial trucks without guide wire

  • US 5,219,036 A
  • Filed: 07/22/1992
  • Issued: 06/15/1993
  • Est. Priority Date: 04/05/1989
  • Status: Expired due to Fees
First Claim
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1. A navigation method for a self-guiding vehicle, the method comprising the steps of:

  • providing a navigation reference point;

    determining a reference path having said navigation reference point;

    storing said reference path and a position of said navigation reference point in the self-guiding vehicle;

    transforming said stored reference path into nominal control values Snominal and α

    nominal ;

    moving the self-guiding vehicle in response to said nominal control value Snominal ;

    setting a steering angle of the self-guiding vehicle in response to said nominal control value α

    nominal ;

    measuring actual movement Sactual of the self-guiding vehiclemeasuring an actual steering angle α

    actual of the self-guiding vehicle;

    measuring a deviation between said navigation reference point and the self-guiding vehicle as the self-guiding passes said navigation reference point;

    determining if the self-guiding vehicle is away from said reference path;

    calculating a correction path to lead the self-guiding vehicle to said reference path if the self-guiding vehicle is away from said reference path, said measured actual movement, said measured actual steering angle and said measured deviation being used for said calculating of said correction path;

    transforming said correction path into updated nominal control values Snominal and α

    nominal ;

    moving the self-guiding vehicle in response to said updated nominal control value Snominal ;

    setting a steering angle of the self-guiding vehicle in response to said updated nominal control value α

    nominal in order for the self-guiding to navigate.

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