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Waypoint Splining for Autonomous Vehicle Following

Abstract: 

A method for defining a following path for a following vehicle to autonomously follow a leader, the method including acquiring waypoints associated with a path that the leader traverses; filtering the acquired waypoints, wherein the filtering removes waypoints located outside an area of interest; generating intermediate waypoints by interpolating between adjacent pairs of the filtered waypoints if the adjacent pairs of the filtered waypoints are separated by a distance that exceeds a threshold distance; and defining a following path through the filtered waypoints and the intermediate waypoints using a least-squares spline fit to calculate the following path.

Patent Number: 
8,510,029
Date Of Issue: 
08/13/2013
Inventors: 

Joshua J. Curtis; George T. McWilliams; Kristopher C. Kozak