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:
Nov. 15, 2011
Filed:
Oct. 04, 2007
Jeffrey Scott Puhalla, Hawley, MN (US);
Daniel Wayne Mairet, Bettendorf, IA (US);
Jeffrey Scott Puhalla, Hawley, MN (US);
Daniel Wayne Mairet, Bettendorf, IA (US);
Deere & Company, Moline, IL (US);
Abstract
A mapping module or path filtering module is arranged to identify admissible curved paths for which the vehicle is able to stop prior to reaching a detected obstacle in accordance with an observed translational velocity and an observed rotational velocity. A data processor determines a respective objective function for the candidate translational velocities and candidate rotational velocities associated with the admissible curved paths, where the objective function includes a curvature comparison term associated with the last curved path of the vehicle. A search engine or data processor selects preferential velocities, among the candidate translational velocities and candidate rotational velocities, with a superior value for its corresponding objective function. A path planning module or data processor determines the vehicular speed and trajectory for a path plan that avoids the obstacle consistent with the selected preferential velocities.