PROCESS FOR RELOCKING ON A THEORETICAL TRAJECTORY FOR A VEHICLE, WHILST MODIFYING THE CURVATURE OF THE REAL TRAJECTORY

摘要

A process for relocking a driverless, robotized vehicle (1) on a theoretical trajectory (Tth2) in which during the passage of the vehicle through a joining section (S1), the curvature of the trajectory of the vehicle (1) is progressively modified as a function of the instantaneous curvature and the heading or course ( theta ). Thus, there are no orientation discontinuities along the trajectory, which imposes no impossible operating conditions on the drive members of the vehicle, but still makes it possible to converge rapidly with the theoretical trajectory.