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

Claim 18:
19. A method performed by one or more computing systems for determining a travel direction of a vehicle to enable the vehicle to avoid objects when traveling from a current location to a target location, the method comprising:
predicting a target path of a moving target object;
designating locations along the target path as predicted locations of the target object;
assigning attractive forces to the predicted locations of the target object;
for each of a plurality of objects other than the target object,
accessing an object location;
predicting a path for the object based on the object location;
designating locations along the path as predicted locations for the object; and
assigning repulsive forces to the object location of the object and the predicted locations;

assigning an attractive force to the target location; and
assigning a cumulative force on the current location based on the attractive force, the repulsive forces and the predicted locations of the target object;
setting the travel direction of the vehicle based on the cumulative force; and
controlling the vehicle to travel in the travel direction.