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Title:
METHOD AND APPARATUS FOR STEERING MOVABLE OBJECT BY USING CONTROL ALGORITHM
Document Type and Number:
WIPO Patent Application WO2005070127
Kind Code:
A3
Abstract:
A method of steering a vehicle (28) along a predetermined or real time path by using a steering control algorithm (16). The vehicle (28) includes a navigation system (13) and a navigation antenna (12). The navigation antenna (12) is mounted on the vehicle (28) at an optimum antenna position, whereas the steering control algorithm (16) assumes a nominal antenna position at a predetermined reference point. The method comprises the following steps: (A) obtaining a set of positioning data of the vehicle (28) by using the navigation system (13) and by using the navigation antenna (12) mounted at the optimum antenna position; (B) modifying the set of positioning data of the vehicle (28); (C) measuring a steering angle(s) of the front wheels of the vehicle (28) relative to a predetermined reference direction(s); (D) calculating a correction(s) to the measured steering angle(s); and (E) performing a steering action by using the correction(s) to the measured steering angle(s) to move the vehicle along the predetermined or real time path.

Inventors:
ARAL GURCAN
Application Number:
US2005000748W
Publication Date:
December 15, 2005
Filing Date:
January 11, 2005
Export Citation:
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Assignee:
TRIMBLE NAVIGATION LTD (US)
International Classes:
A01B59/043; E02F3/76; G01C21/00; G01C21/20; G01C22/00; G05D1/02; G06G7/78; H04B7/185; (IPC1-7): G01C21/00; A01B59/043; E02F3/76; G06G7/78; H04B7/185
Foreign References:
US5612864A1997-03-18
US6611228B22003-08-26
US6789014B12004-09-07
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