Patent ID: 11904938
Assignee: OHIO UNIVERSITY
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 19:
20. A computer program product comprising:
a non-transitory computer-readable storage medium; and
program code stored on the non-transitory computer-readable storage medium that, when executed by one or more processors, causes the one or more processors to:
define a virtual space including a vehicle, a parking space, an obstacle corner, and a target line in a drive aisle adjacent to the parking space;
determine a ready position from which the vehicle avoids the obstacle corner when moving along a linear path between the ready position and the target line;
move the vehicle between a first pose in the parking space and a second pose in the ready position;
move the vehicle between the second pose and a third pose on the target line;
determine a first path segment by tracing the vehicle as the vehicle is moved between the first pose, the second pose, and the third pose;
move the vehicle between a fourth pose outside the parking space and a fifth pose on the target line;
determine a second path segment by tracing the vehicle as the vehicle is moved between the fourth pose and the fifth pose;
connect the first path segment to the second path segment to define a virtual path between the first pose and the fourth pose; and
generate one or more control signals that cause a physical vehicle to move in a physical space using the virtual path in the virtual space.