Patent ID: 11927972
Assignee: LAWRENCE LIVERMORE NATIONAL SECURITY, LLC
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 12:
13. A method performed by one or more computing systems for determining a travel direction that avoids objects when traveling from a current location to a target location, the method comprising:
for each of a plurality of collection intervals during travel to the target location,
accessing external object information provided by an external object system, the external object information including, for each of a plurality of objects, location, type, and constraint;
assigning a quantity of an object charge to the location of each object based on the type of and constraint on the object;
predicting the target location, the target location corresponding to one of a plurality of predicted target locations of a moving target object corresponding to a predicted target path of the target object;
assigning a quantity of a target charge to the target location, wherein the object charge and the target charge are opposite charges;
calculating a total field at the current location resulting from the quantities of the object charge and the quantity of the target charge, the total field having a direction; and
control a vehicle to travel in the determined direction.