Autonomous vehicle for working on a surface and method of controlling same

  • US 4,962,453 A
  • Filed: 02/07/1989
  • Issued: 10/09/1990
  • Est. Priority Date: 02/07/1989
  • Status: Expired due to Fees
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First Claim
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1. A method of controlling the movement of an autonomous vehicle working on a surface, said vehicle having means for moving the vehicle, means for turning the vehicle, means for determining the distance traversed by the vehicle and means for sensing contact of the vehicle with an obstacle, comprising:

  • a. establishing a starting point for the vehicle to work on the surface;

    b. from an origin point, initially at the starting point, causing the vehicle to traverse a distance "R", or until the vehicle encounters an obstacle;

    c. causing the vehicle to return to the origin after traversing the distance "R" or encountering an obstacle;

    d. upon completion of the return in the step c, at the origin, turning the vehicle through an angle; and

    e. in an "iteration", repeating the steps b, c and d until the total of the angles turned in the step d reaches a predetermined limit.

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