Method and apparatus for determining a path for a machine between a predetermined route and a final position

• US 5,752,207 A
• Filed: 09/29/1995
• Issued: 05/12/1998
• Est. Priority Date: 09/29/1995
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Sarangapani, Jagannathan
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): Pipala, Edward J.
• Application Number:
  US08/536,761
• Time in Patent Office: 956 Days
• Field of Search: 364/424.027, 364/424.028, 364/424.029, 364/424.031, 364/443, 364/444.1, 364/444.2, 364/449.3, 364/449.4, 701/23, 701/24, 701/25, 701/26, 701/200, 701/201, 701/202, 701/209, 701/210
• US Class Current: 701/26
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

Abstract

A method and apparatus for automatically determining and modeling a path between a route and a final position is provided. An initial position on the route and a set of path equations between the initial position and the final position are determined. A set of path data points is computed using the set of path equations and the path as defined by the path data points is modeled. The curvature of the path at each point is determined using the model and validated against a reference curvature.

Claims

1. A method for automatically determining and modeling a path between a route and a final position, the final position including a final location and a final heading, comprising:

(a) determining an initial position on the route using a position determining system, said initial position including an initial location and an initial heading;

(b) determining a set of path equations between said initial position and the final position;

(c) computing a set of path data points using said set of path equations;

(d) determining a model of the path as defined by said path data points;

(e) determining the curvature of the path at each of said path data points using said model;

(f) determining an other initial position and repeating steps (b)-(e) if said curvature at any path data point is greater than a predetermined curvature.

2. A method, as set forth in claim 1, wherein said step of determining an initial position on the route includes the steps of:

(a)(1) determining the point on the route (S₀) closest to the final position;

(a)(2) determining a sample point a first predetermined distance from S₀ along the route;

(a)(3) validating said sample point;

(a)(4) choosing another sample point and repeating step (a)(3) if said sample point is not validated; and

(a)(5) setting the initial position equal to a validated sample point.

3. A method, as set forth in claim 2, wherein said step (a)(3) includes the step of validating said sample point if one of the following is true:

a heading at said first sample point varies from a heading at S₀ by at least a predetermined angle and said sample point is a second predetermined distance from S₀ along said route.

4. A method, as set forth in claim 1, wherein said set of path data points in step (c) is of a predetermined number.

5. A method, as set forth in claim 1, wherein said model of the path of step (d) is a B-Spline.

6. A method, as set forth in claim 1, wherein said other initial position of step (f) is determined as a point a predetermined distance from the previous initial position.

7. An apparatus for automatically determining and modeling a path between a route and a final position, the final position including a final location and a final heading, comprising:

means for generating a final position signal indicative of the final position, and, means for determining an initial position on the route, said initial position including an initial location and an initial heading;

computing a set of path data points between said initial position and the final position;

modeling the path defined by said path data points;

determining the curvature of the path at each path data point using said model; and

determining an other initial position and another path using said other initial position if said curvature at any path data point is greater than a predetermined curvature.

8. An apparatus for automatically determining and modeling a path between a route and a final position, the final position including a final location and a final heading, comprising:

a first machine;

means, located on said first machine, for generating a final position signal indicative of the final position, and,

means, located on said first machine, for transmitting said final position signal;

a second machine, said second machine adapted to traverse the predetermined route;

means, located on said second machine, for receiving said final position signal;

means, located on said second machine, for determining an initial position on the route, said initial position including an initial location and an initial heading;

computing a set of path data points between said initial position and the final position;

modeling the path defined by said path data points;

determining the curvature of the path at each path data point using said model; and

determining an other initial position and an other path using said other initial position if said curvature at any path data point is greater than a predetermined curvature.