SE8600169D0 - SYSTEM TO DRIVE AND LEAD VEHICLES - Google Patents

SYSTEM TO DRIVE AND LEAD VEHICLES

Info

Publication number
SE8600169D0
SE8600169D0 SE8600169A SE8600169A SE8600169D0 SE 8600169 D0 SE8600169 D0 SE 8600169D0 SE 8600169 A SE8600169 A SE 8600169A SE 8600169 A SE8600169 A SE 8600169A SE 8600169 D0 SE8600169 D0 SE 8600169D0
Authority
SE
Sweden
Prior art keywords
vehicle
reference points
vectors
points
incremental
Prior art date
Application number
SE8600169A
Other languages
Swedish (sv)
Other versions
SE457023B (en
SE8600169L (en
Inventor
P J Reeve
M P Robins
M T Roberts
Original Assignee
Gen Electric Co Plc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gen Electric Co Plc filed Critical Gen Electric Co Plc
Publication of SE8600169D0 publication Critical patent/SE8600169D0/en
Publication of SE8600169L publication Critical patent/SE8600169L/en
Publication of SE457023B publication Critical patent/SE457023B/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room

Abstract

A vehicle control and guidance system in which a desired route for the vehicle is stored in the vehicle in the form of co-ordinates in a ground reference frame. The "vectors" between these junction points are divided by successive reference points into incremental vectors, the reference points being generated ahead of the vehicle at regular intervals. A dead reckoning system predicts the position of the vehicle at the end of each interval and this estimate is corrected, using a Kalman filter, by an independant fixed-target detection system using a scanning laser. The error between the estimated vehicle position and the local incremental vector provides a steering angle correction for the vehicle and the vehicle speed is dependent upon the lag of the vehicle behind the generation of reference points.
SE8600169A 1984-05-16 1986-01-15 SYSTEM TO OPERATE AND LEAD A VEHICLE SE457023B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB08412425A GB2158965B (en) 1984-05-16 1984-05-16 Driverless vehicle
PCT/GB1984/000352 WO1985005474A1 (en) 1984-05-16 1984-10-19 Vehicle control and guidance system

Publications (3)

Publication Number Publication Date
SE8600169D0 true SE8600169D0 (en) 1986-01-15
SE8600169L SE8600169L (en) 1986-01-15
SE457023B SE457023B (en) 1988-11-21

Family

ID=10561015

Family Applications (1)

Application Number Title Priority Date Filing Date
SE8600169A SE457023B (en) 1984-05-16 1986-01-15 SYSTEM TO OPERATE AND LEAD A VEHICLE

Country Status (10)

Country Link
JP (1) JPS61502149A (en)
KR (1) KR920008053B1 (en)
CA (1) CA1230399A (en)
CH (1) CH667930A5 (en)
DE (2) DE3490712T1 (en)
FR (1) FR2564614B1 (en)
GB (1) GB2158965B (en)
IE (1) IE55783B1 (en)
SE (1) SE457023B (en)
WO (1) WO1985005474A1 (en)

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US4817000A (en) * 1986-03-10 1989-03-28 Si Handling Systems, Inc. Automatic guided vehicle system
DE3709627A1 (en) * 1987-03-24 1988-10-13 Fraunhofer Ges Forschung SELF-DRIVING VEHICLE
JP2707546B2 (en) * 1987-05-06 1998-01-28 日産自動車株式会社 Vehicle steering control device
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JPS647110A (en) * 1987-06-29 1989-01-11 Nissan Motor Steering controller for vehicle
US5663879A (en) * 1987-11-20 1997-09-02 North American Philips Corporation Method and apparatus for smooth control of a vehicle with automatic recovery for interference
FR2648581A1 (en) * 1989-06-16 1990-12-21 Commissariat Energie Atomique METHOD FOR CREATING AND TRACKING A TRACK FOR A VEHICLE SUCH AS A ROBOT
JP3002206B2 (en) * 1989-06-22 2000-01-24 神鋼電機株式会社 Travel control method for mobile robot
WO1991009375A1 (en) * 1989-12-11 1991-06-27 Caterpillar Inc. Integrated vehicle positioning and navigation system, apparatus and method
EP0457064A1 (en) * 1990-05-14 1991-11-21 Siemens Aktiengesellschaft Method for driving a mobile system
US5281901A (en) 1990-12-03 1994-01-25 Eaton-Kenway, Inc. Downward compatible AGV system and methods
US5187664A (en) 1990-11-27 1993-02-16 Eaton-Kenway, Inc. Proportional position-sensing system for an automatic guided vehicle
US5127486A (en) * 1990-11-23 1992-07-07 Eaton-Kenway, Inc. System for sensing arrival of an automatic guided vehicle at a wire
US5175415A (en) 1990-11-27 1992-12-29 Eaton-Kenway, Inc. Combination drive-wheel mechanism and travel-sensor mechanism
JP2802560B2 (en) * 1992-02-24 1998-09-24 本田技研工業株式会社 Mobile steering control device
GB2270438B (en) * 1992-09-08 1996-06-26 Caterpillar Inc Apparatus and method for determining the location of a vehicle
US5539646A (en) * 1993-10-26 1996-07-23 Hk Systems Inc. Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator
ZA957639B (en) * 1994-10-24 1996-05-24 Caterpillar Inc System and method for precisely determining an operating point for an autonomous vehicle
US5916285A (en) 1995-10-18 1999-06-29 Jervis B. Webb Company Method and apparatus for sensing forward, reverse and lateral motion of a driverless vehicle
US6092010A (en) * 1997-09-03 2000-07-18 Jervis B. Webb Company Method and system for describing, generating and checking non-wire guidepaths for automatic guided vehicles
KR19990049291A (en) * 1997-12-12 1999-07-05 정몽규 Vehicle induction signal supply
DE19938345C1 (en) 1999-08-13 2001-02-15 Isocom Automationssysteme Gmbh Method and device for detecting the position of a vehicle in a predetermined area, in particular a storage facility, and warehouse management method and system
GB2353909B (en) * 1999-08-28 2004-03-17 John Alfred Cawkwell Robot positioning and motion mechanism
US6721638B2 (en) * 2001-05-07 2004-04-13 Rapistan Systems Advertising Corp. AGV position and heading controller
DE10148976A1 (en) * 2001-10-04 2003-04-30 Overmeyer Ludger Transponder control of an unmanned vehicle, involves using elements embedded in road surface
DE10344528A1 (en) * 2003-09-25 2005-04-28 Volkswagen Ag Assembled vehicle testing method e.g. for testing if vehicle is operational, involves manipulating transport of vehicle to respective test and or manipulation of individual functions of vehicle within test
US8075243B2 (en) 2004-05-03 2011-12-13 Jervis B. Webb Company Automatic transport loading system and method
US8192137B2 (en) 2004-05-03 2012-06-05 Jervis B. Webb Company Automatic transport loading system and method
US7648329B2 (en) 2004-05-03 2010-01-19 Jervis B. Webb Company Automatic transport loading system and method
US7980808B2 (en) 2004-05-03 2011-07-19 Jervis B. Webb Company Automatic transport loading system and method
US8210791B2 (en) 2004-05-03 2012-07-03 Jervis B. Webb Company Automatic transport loading system and method
KR100883520B1 (en) * 2007-07-23 2009-02-13 한국전자통신연구원 Method and apparatus for providing indoor eco-map
CA3039868C (en) 2011-03-18 2020-12-29 The Raymond Corporation Integral display mount for a material handling vehicle
US20140176714A1 (en) * 2012-12-26 2014-06-26 Automotive Research & Test Center Collision prevention warning method and device capable of tracking moving object
DE102014204983A1 (en) * 2014-03-18 2015-09-24 Robert Bosch Gmbh Control device and method for determining the position of a vehicle
DE102014007794A1 (en) 2014-05-24 2014-10-23 Daimler Ag Method for operating a vehicle control system
CA2975957A1 (en) * 2015-02-05 2016-08-11 Akash Gupta Apparatus and method for navigation control
CN105573321B (en) * 2016-01-05 2018-05-01 国家电网公司 A kind of Intelligent Mobile Robot air navigation aid based on laser rail
WO2018021457A1 (en) 2016-07-29 2018-02-01 日本電産株式会社 Moving body guidance system, moving body, guidance device, and computer program
GB2574448A (en) * 2018-06-07 2019-12-11 Jaguar Land Rover Ltd Apparatus and method controlling a process
AU2020202307A1 (en) 2019-04-02 2020-10-22 The Raymond Corporation Mast and supplementary object detection system for a material handling device
CN111026125B (en) * 2019-12-26 2023-10-10 上海信耀电子有限公司 Automatic correction method for automatic navigation trolley

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US4347573A (en) * 1978-10-30 1982-08-31 The Singer Company Land-vehicle navigation system
DE3003287A1 (en) * 1979-02-05 1980-08-14 Volvo Ab SELF-DRIVING VEHICLE
DE2925656A1 (en) * 1979-06-26 1981-01-15 Blaupunkt Werke Gmbh METHOD AND DEVICE FOR TARGETING AGRICULTURAL VEHICLES
JPS57182209A (en) * 1981-04-30 1982-11-10 Mitsubishi Electric Corp Traveling error correcting device of unattended carrying vehicle
JPS58144214A (en) * 1982-02-19 1983-08-27 Kubota Ltd Automatic traveling vehicle of teaching playback system
FR2526181A1 (en) * 1982-04-30 1983-11-04 Traitement Information Tech Nl Control system for autonomous transportation carriages - uses microprocessor to calculate position from beacons reflecting acoustic signals from on-board emitter

Also Published As

Publication number Publication date
IE842728L (en) 1985-11-16
GB2158965A (en) 1985-11-20
DE3490712C2 (en) 1996-09-19
JPS61502149A (en) 1986-09-25
GB8412425D0 (en) 1984-06-20
KR920008053B1 (en) 1992-09-21
CH667930A5 (en) 1988-11-15
FR2564614A1 (en) 1985-11-22
GB2158965B (en) 1988-05-18
WO1985005474A1 (en) 1985-12-05
CA1230399A (en) 1987-12-15
IE55783B1 (en) 1991-01-16
KR860700161A (en) 1986-03-31
DE3490712T1 (en) 1986-09-18
FR2564614B1 (en) 1988-12-09
SE457023B (en) 1988-11-21
SE8600169L (en) 1986-01-15

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