| 摘要 |
PCT No. PCT/DE95/00734 Sec. 371 Date Dec. 17, 1996 Sec. 102(e) Date Dec. 17, 1996 PCT Filed Jun. 6, 1995 PCT Pub. No. WO95/35531 PCT Pub. Date Dec. 28, 1995Different bonus values and penalty values are allotted for each partial task of the unit such as, for example, drive from A to B, hold your positional uncertainty below a specific threshold, or draw up a map of the surroundings and add landmarks to it. Performance weightings for the individual tasks are yielded, in conjunction with a need to carry the latter out, after analysis of the bonus values and penalty values, and are evaluated in a control unit. Furthermore, in the context of the method a local planning horizon is specified in which the surroundings of the unit are subdivided into grid cells. Preferred directions, which lead the unit by the shortest path to already known or unconfirmed landmarks are stored for these grid cells, with the aim of reducing the positional uncertainty, or of being able to confirm a landmark. All the different routes which are possible within the framework of this grid are then investigated as to what contribution they make to enable the unit to reach the goal. In this process, the different costs and benefits per partial task are added up along each path. That route is selected which has the greatest benefit or the lowest loss. Finally, a destination which is situated outside the local planning horizon is reached by carrying out the method cyclically.
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