| 摘要 |
A method for guiding a robotic vehicle (10) includes the steps of establishing a tracking position (22) along a row of vehicle sensors (175, 174) at which the border (188) is to intersect the row, positioning the vehicle (10) on the border (188) so that the border (188) intersects the row, generating a positive signal when a sensor (175, 174) senses any obstruction by vegetation of a path of radiation from a respective emitter (175) to a respective detector (174), generating a negative signal when a sensor does not sense any obstruction, repeating the generating steps as the vehicle (10) advances, sending a plurality of groups of generated signals to a processor (112), averaging the signals, identifying the intersecting position by identifying an adjacent pair of oppositely signalling sensors on the basis of averaging of the signals, determining whether the tracking position is at or to the right or left of the intersecting position and steering the vehicle straight. |
