NAVIGATION SYSTEM FOR FAST AUTOMATED VEHICLES AND MOBILE ROBOTS

摘要

A large area autonomous vehicle system. The system includes a platform and a controllable mechanism for displacement of the platform. The system further includes a navigation mechanism for controlling the operation of the controllable mechanism. The navigation mechanism, in turn, includes a number of selectively placeable retroreflectors and a scanning rangefinder mounted on the platform which directs pulses of radiation toward the retroreflectors. The navigation mechanism further includes a bearing mechanism which is associated with the scanning rangefinder for determining the azimuthal orientation of one or more of the retroreflectors. A range determining mechanism is associated with the scanning rangefinder for determining the range of one or more of the retroreflectors. The range determining mechanism includes one or more optical fibers through which some of the radiation is routed, and further includes a mechanism for determining the difference in arrival time of the radiation from the retroreflectors and through the optical fiber. Finally, the navigation mechanism includes a mechanism responsive to the sensed range and angular orientation of the retroreflectors for providing operating instructions to the controllable mechanism.