A system for relative vehicle navigation, typically for autonomous vehicles in underground mines

摘要

Disclosed is a means of navigating without localisation infrastructure or external control, an autonomous vehicle along a path that is confined by walls that are within range of on-board sensors by determining the relative location and orientation of the walls with respect to the vehicle, the means comprising means of controlling the vehicle, including setting steer angle and ground speed, without localisation comprising hardware and means to: (a) use range data to establish free space in front of vehicle; (b) use active contours (or snakes) to generate a desired path; (c) use driving hints to guide the or a said snake, for instance along arcs and open areas; and/or to (d) use steering hints to confine the snake to a specific domain of free space, for instance at intersections; and (e) use desired path to generate steering demand and velocity.