Method and apparatus for smooth control of a vehicle with automatic recovery from interference.

摘要

In the first embodiment, direction arrows that point to subsequent direction arrows that are on the same fiber are concatenated so that any error can be smoothed over a longer motion. In the second embodiment, the orientation, location and time when the vehicle should be given a new setpoint is determined. In the third embodiment, it is determined whether the vehicle on the desired path, and the motion is corrected if it is not. <IMAGE> <IMAGE>