MACHINE PATH CALCULATION METHOD AND DEVICE BETWEEN PRESCRIBED ROUTE AND FINAL POSITION

摘要

PROBLEM TO BE SOLVED: To model a machine path by calculating the path curvature based on a path model acquired from the path data points set between the initial and final positions and repeating this calculation until the path curvature is reduced less than a prescribed value. ;SOLUTION: A system 300 decides the position of a loading machine, and a GPS receiver of a 1st positioning means 302 decides the global positions of antennas 304 and 306 based on the position of the loading machine. Furthermore, the direction of the loading machine is calculated based on the global positions of both antennas 304 and 306. Then an initial position including an initial place and an initial direction is decided on a route, and a pair of path data points are calculated based on a pair of path expressions set between the initial and final positions. Furthermore, the path curvature is calculated at every path data point based on a path model acquired from the path data points. This calculation is repeated as long as the path curvature is larger than a prescribed one at any path data point.;COPYRIGHT: (C)1997,JPO