Method and apparatus for determining an alternate path in response to detection of an obstacle
First Claim
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1. A method for planning an alternate path in response to detection of an obstacle by a mobile machine at a work site, the work site including a plurality of mobile machines and a fleet manager, including the steps of:
- determining the presence and location of an obstacle in a primary path of the mobile machine;
planning an alternate path around the obstacle by a path planner located on the mobile machine;
delivering a signal to the fleet manager, the signal having the location of the obstacle and the alternate path; and
traversing the alternate path.
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Abstract
The present invention is a method and apparatus for planning an alternate path in response to detection of an obstacle by a mobile machine at a work site. The work site includes a fleet of mobile machines and a fleet manager. The method includes the steps of determining the presence and location of an obstacle in a primary path of the mobile machine, determining an alternate path around the obstacle, and delivering a signal to the fleet manager with the location of the obstacle and the alternate path.
149 Citations
21 Claims
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1. A method for planning an alternate path in response to detection of an obstacle by a mobile machine at a work site, the work site including a plurality of mobile machines and a fleet manager, including the steps of:
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determining the presence and location of an obstacle in a primary path of the mobile machine; planning an alternate path around the obstacle by a path planner located on the mobile machine; delivering a signal to the fleet manager, the signal having the location of the obstacle and the alternate path; and traversing the alternate path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An apparatus for planning an alternate path in response to detection of an obstacle by a mobile machine at a work site, the work site including a plurality of mobile machines and a fleet manager, comprising:
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an obstacle detection system located on the mobile machine; a position determining system located on the mobile machine; a path planner located on the mobile machine; a communications system located on the mobile machine; and a control system located on the mobile machine adapted to receive a signal from the obstacle detection system indicating the presence of an obstacle, receive a signal from the position determining system indicating the location of the obstacle, receive a signal from the path planner indicating a proposed alternate path around the obstacle, deliver a signal to the fleet manager indicating the location of the obstacle and the alternate path, and control the mobile machine to traverse the alternate path. - View Dependent Claims (12, 13)
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14. A method for controlling a fleet of mobile machines as the mobile machines traverse a work site, including the steps of:
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receiving a signal from a first mobile machine indicating the location of an obstacle and a proposed alternate path around the obstacle, the proposed alternate path being planned by a path planner located on the mobile machine; determining the presence of any other mobile machine approaching the proposed alternate path; and delivering a signal to the first mobile machine to enable the mobile machine to traverse the proposed alternate path in response to determining that no other mobile machine is approaching the proposed alternate path. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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Specification