Path planning autopilot

摘要

A path planning autopilot guides vehicles efficiently even when they are far from a desired path.

主权项

1. A vehicle autopilot comprising:
a microprocessor and memory; a GNSS receiver that provides vehicle position, velocity and time estimates to the microprocessor; a feedback controller and a feed-forward controller, the feedback controller generating vehicle curvature commands based on measured heading and y-offset data and a desired path, the feed-forward controller generating vehicle curvature commands based on a calculated joining path from the vehicle position to the desired path; and, a vehicle steering actuator.