Paul A. Beardsley,Scott Frazier Watson,Javier Alonso-Mora
申请号：
US14457291
公开号：
US09216745B2
申请日:
2014.08.12
申请国别(地区):
US
年份:
2015
代理人:
摘要：
A method for providing shared control over movement of a vehicle within a space. The method includes receiving user input related to a velocity and a direction for the vehicle within the space. The method includes processing the user input to selectively adjust the velocity and the direction desired by the user based on a set of predefined constraints to generate a trajectory for the vehicle for an upcoming time period. The method includes operating drive mechanisms in the vehicle based on the trajectory to move the vehicle from a first position to a second position within the space during the upcoming time period. A grid map defining locations of obstacles in the space may be used to define the trajectory to avoid collisions, and a guidance trajectory may be used to further control movement to achieve a desired throughput and control vehicle movement within particular portions of the space.
