UTILIZATION OF DELAY ABSOLUTE POSITION DATA FOR GUIDANCE AND OPERATION FOR MOVING VEHICLE CONTROLLER

摘要

A controllable mobile apparatus travels to a commanded destination under the control of a dead reckoning navigation procedure 329 for navigating the controllable mobile apparatus along the commanded path in response to position data. The mobile apparatus determines its position and provides the position data. Additionally, there is a software filter system which filters the speed and direction commands. A vision system provides the absolute position to the mobile apparatus. The dead reckoning position data is periodically modified 331, 328 with the absolute position. The dead reckoning procedure is synchronized with the vision system.