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:
Oct. 17, 2000
Filed:
Nov. 30, 1998
Jagannathan Sarangapani, Peoria, IL (US);
Caterpillar Inc., Peoria, IL (US);
Abstract
A method for determining an alternate path by a mobile machine to avoid at least one obstacle. The method includes the steps of assigning an initial value of charge to the mobile machine, assigning a value of charge to a desired destination, determining the presence and the locations of at least one obstacle, and assigning a value of charge to each determined obstacle. The method further includes the steps of determining a force vector equation for each of the desired destination and each obstacle with respect to the mobile machine, determining a resultant force vector as a function of the force vector equations, and controlling the steering and movement of the mobile machine in response to the resultant force vector.