| 摘要 |
PROBLEM TO BE SOLVED: To determine the vectors of right and left boundaries used for calculating the start point and the end point of a path through which a mobile machine is moved. SOLUTION: The end point 104 of the continuous path 22 is found by increasing a distance equal to the width of a work path 22 along a line parallel to the path. The vector product of Vt1 and Vs1 is calculated, and the code of the vector product is used for determining vectors V1 and Vr of the right and left boundaries to use the code for calculating the start point and the end point of a next path. If the code of the vector product of Vt1 and Vsl is negative, the boundary vector Vll between a corner point P(0) and P(1) is used. If the code of the vector product is positive, the boundary vector V12 between a corner point P(1) and P(2) is used. COPYRIGHT: (C)2009,JPO&INPIT
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