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System for controlling movement of a mobile body along a target path

  • US 5,350,912 A
  • Filed: 01/15/1993
  • Issued: 09/27/1994
  • Est. Priority Date: 01/17/1992
  • Status: Expired due to Term
First Claim
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1. A system for controlling movement of a mobile body substantially along a target path, comprising:

  • means for determining a target point on the target path;

    means for determining a control quantity which will cause said mobile body to reach said target point from an original position;

    means for determining a direction in which to move said mobile body toward said target point based on said control quantity;

    means for determining an angular difference between said direction and said target path at the target point as a target point angular difference;

    means for determining a target control quantity for the mobile body by correcting the control quantity such that the mobile body reaches the target point based on said target point angular difference; and

    means for controlling said mobile body based on said target control quantity.

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