초록 ▼

A method of recording trajectory data and sensor data for a vehicle while it is manually driven. The trajectory data comprises of the trajectory length and vehicle frame (position and orientation) that are calculated at each motion execution interval. The sensor data comprises of the trajectory leng

A method of recording trajectory data and sensor data for a vehicle while it is manually driven. The trajectory data comprises of the trajectory length and vehicle frame (position and orientation) that are calculated at each motion execution interval. The sensor data comprises of the trajectory length, vehicle frame, sensor frame, and sensor data that are obtained at each sensor execution interval. In particular, if the sensor is a range-finder, an estimated frame of the object that the range finder detects will be added to said sensor data. One objective of this invention is to play back the same motion the vehicle was taught by a human operator. Another objective is to generate a world map for the vehicle. Still further objective is, in the play-back mode, to correct vehicle's positional errors using the sensor data.

대표청구항 ▼

[ What I claim as invention is:] [1.]1. A method of recording trajectory data for a manually-driven vehicle that moves on a plane, comprising:providing means for periodical motion function execution with a motion-execution interval .DELTA.T;defining a global frame on said plane to describe a vehicle

[ What I claim as invention is:] [1.]1. A method of recording trajectory data for a manually-driven vehicle that moves on a plane, comprising:providing means for periodical motion function execution with a motion-execution interval .DELTA.T;defining a global frame on said plane to describe a vehicle position p=(x, y) and a vehicle orientation .theta. of said manually-driven vehicle;denoting a pair (p, .theta.)=((x, y), .theta.) of said vehicle position and said vehicle orientation as a vehicle frame Q;denoting s as a trajectory length measured along a trajectory from a start position of said manually-driven vehicle;providing means for detecting an incremental trajectory length .DELTA.s during each motion-execution-interval .DELTA.T;providing means for detecting a vehicle orientation change .DELTA..theta. during each motion-execution interval .DELTA.T;initializing said trajectory length s and said vehicle frame Q at an initial state; and executing a sequence of motion functions at every motion-execution interval .DELTA.T, comprising:detecting said incremental trajectory length .DELTA.s;detecting said vehicle orientation change .DELTA..theta.,computing an incremental transformation .DELTA.Q using said incremental trajectory length .DELTA.s and said vehicle orientation change .DELTA..theta.,updating said vehicle frame Q by composing said incremental transformation .DELTA.Q to said vehicle frame Q;updating said trajectory length s by adding .DELTA.s;assembling a trajectory record A which comprises of said trajectory length s and said vehicle frame Q;providing a memory which is able to store said trajectory record A; and storing said trajectory record A to said memory.