Tracking control for a driverless vehicle

摘要

The automatic following vehicle has a controller and sensing system such that it will automatically follow the walking user. The controller Ä13Ü has a connection to a pair of ultrasonic units ÄF1, F2Ü that emit and receive signals. The devices send out signals that are received by an ultrasonic transponder Ä14Ü he can be worn by the user. The transponder signals are received by the vehicle based units and are processed to determine the distance Ä15Ü and the angle ÄalphaÜ between the vehicle and user. A steering command is generated to control the vehicle. The system may also be used for other applications.