Patent ID: 11919510
Assignee: ELTA SYSTEMS LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 18:
19. An unmanned vehicle, comprising:
a scanning device for scanning an area around the vehicle in a plurality of directions and generating real-time scanning output data;
a vehicle control sub-system configured to receive vehicle control instructions and control the vehicle in accordance with the instructions; and
at least one processing circuitry configured to:
generate, based on the real-time scanning output data, a range map including K sets of real-time range values, wherein K≥1; each set comprising a plurality of real-time range values, each range value in the set is determined from a given rotation-point of the vehicle towards a certain direction; each set of real-time range values having a corresponding set comprising a plurality of vehicle-contour range values; each vehicle-contour range value in the corresponding set is a distance measured from the given rotation-point to a perimeter of the vehicle in a respective direction;
for each set of the K sets:
determine differences between real-time range values in the set and corresponding vehicle-contour range values in a corresponding set;
determine, based on the differences, conditions for executing a point-turn that avoids collision with nearby objects;

generate a point-turn command for causing the vehicle to execute a point-turn according to the point-turn conditions; and
the vehicle control sub-system is configured to execute the point-turn command and control the vehicle to turn accordingly.