Patent ID: 11933615
Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 15:
16. The mobile machine of claim 15, wherein the one or more programs further include instructions to
calculate a near-goal estimated time of arrival for each pair of consecutive poses in the global path within a range from the destination by performing the calculation of the pose-to-pose estimated time of arrival on the each pair of the consecutive poses in the global path within the range, and sum the calculated near-goal estimated time of arrival for all the pairs of the consecutive poses in the global path within the range to obtain a summed near-goal estimated time of arrival;
wherein, in the calculating dynamic estimated time of arrival, the dynamic estimated time of arrival is obtained by performing the calculation of the pose-to-pose estimated time of arrival on each pair of consecutive poses in the local path without the range;
wherein, in the calculating the baseline estimated time of arrival, the baseline estimated time of arrival is obtained by performing the calculation of the pose-to-pose estimated time of arrival on each pair of consecutive poses from a pose in the global path closest to a last pose in the local path to a first pose in the global path within the range from the destination, wherein the last pose in the local path within the range is a pose closest to the destination in the local path within the range, and the first pose in the global path within the range is a pose farthest from the destination in the global path within the range; and
wherein, the total estimated time of arrival of the mobile machine to the destination is obtained based on the summed dynamic estimated time of arrival, the summed baseline estimated time of arrival, and the summed near-goal estimated time of arrival.