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Method and apparatus for controlling robotic golf caddy apparatus

  • US 5,944,132 A
  • Filed: 09/08/1997
  • Issued: 08/31/1999
  • Est. Priority Date: 07/20/1995
  • Status: Expired due to Fees
First Claim
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1. A method of controlling a self-propelled, steerable vehicle through an accessible area with predetermined boundaries defining areas not accessible to the vehicle, the method comprising the steps of(1) moving the object through the accessible area and within the predetermined boundaries,(2) while the vehicle is in the accessible area, using a GPS system having a multiplicity of satellites to determine the approximate location of the vehicle in the accessible area,(3) steering the vehicle based in part on the determined approximate location of the vehicle using the GPS system, and(4) if the number of viewable satellites from which signals can be received in the GPS system falls below a predetermined minimum number, then performing the following steps until the number of viewable satellites increases to the minimum number:

  • (a) determining a safe distance that the vehicle can travel along a path, which distance is related to the position of the vehicle in relation to the boundaries of the accessible area, at the time the number of viewable satellites falls below the minimum number, and(b) steering the vehicle along the path and at the same time determining the distance the vehicle travels along the path after the time the number of viewable satellites falls below the minimum number using a distance determination device independent of the GPS system,(5) once the number of viewable satellites increases to the minimum number, continuing to steer the vehicle through the accessible area using the GPS system.

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