The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 22, 1999
Filed:
Nov. 21, 1997
Rudolf Bauer, Nuebiberg, DE;
Wendelin Feiten, Nuebiberg, DE;
Siemens Aktiengesellschaft, Munich, DE;
Abstract
An improved method for the orientation of autonomous mobile units is provided. Collision distances to obstacles are thereby calculated on the basis of the steering and drive geometry of the movable unit. On the basis of these distances, allowed steering angle ranges for the unit are defined. Additionally, a defined observation horizon is prescribed for the sensor equipment of the unit. The obstacles to be evaluated are within this horizon. Moreover, a safety zone is defined around the unit in which no obstacles can be located; otherwise, travel in reverse is triggered. For route optimization of the unit, steering angle ranges that derive from different observation horizons and safety zones are combined on a case-by-case basis. By reducing the safety margin only in narrow passages down to the housing contour of the unit in the extreme case, the maximum steering angle can be utilized. As a result thereof, a greatest possible degree of maneuverability is also assured between obstacles residing close to one another.