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:
Dec. 17, 2013
Filed:
Sep. 15, 2010
Ross Hennessy, Alexandria, AU;
Florian Oppolzer, Bundoora, AU;
Xiuyi Fan, Neutral Bay, AU;
Surya P. N. Singh, Burwood, AU;
Hugh Durrant-whyte, Rozelle, AU;
Ross Hennessy, Alexandria, AU;
Florian Oppolzer, Bundoora, AU;
Xiuyi Fan, Neutral Bay, AU;
Surya P. N. Singh, Burwood, AU;
Hugh Durrant-Whyte, Rozelle, AU;
The University of Sydney, The University of Sydney, AU;
Abstract
An autonomous navigation system for a tracked or skid-steer vehicle is described. The system includes a path planner () that computes a series of waypoint locations specifying a path to follow and vehicle location sensors (). A tramming controller () includes a waypoint controller () that computes vehicle speed and yaw rate setpoints based on vehicle location information from the vehicle location sensor and the locations of a plurality of neighboring waypoints, and a rate controller () that generates left and right track speed setpoints from the speed and yaw rate setpoints. A vehicle control interface actuates the vehicle controls in accordance with the left and right track speed setpoints.