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Method and apparatus for controlling high speed vehicles

  • US 5,220,497 A
  • Filed: 10/29/1990
  • Issued: 06/15/1993
  • Est. Priority Date: 11/20/1987
  • Status: Expired due to Fees
First Claim
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1. A method for controlling the motion of a vehicle in a physical task space comprising the steps of:

  • generating a data set which represents a configuration space having a frame of reference which is moving relative to the physical space;

    propagating cost waves in the configuration space data set to create direction arrows;

    using the direction arrows to find a least cost path from a starting point to a goal point in the physical task space; and

    controlling one or more parameters affecting the motion of the vehicle after finding the least cost path in a manner that the vehicle follows the path.

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