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:
PCT/US2005/000748
Publication Date:
December 15, 2005
Filing Date:
January 11, 2005
Export Citation:
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; G06G7/78; A01B59/043; E02F3/76; H04B7/185
Foreign References:
| US5612864A | 1997-03-18 | |||
| US6611228B2 | 2003-08-26 | |||
| US6789014B1 | 2004-09-07 |
Download PDF: