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

Claim 4:
5. The method of claim 1, wherein the calculation of the pose-to-pose estimated time of arrival comprises:
calculating an orientation difference of each pair of consecutive poses;
calculating a turning radius of each pair of consecutive poses based on the orientation difference;
calculating an estimated time of arrival dt for each pair of consecutive poses through an equation of:

dt=max(rdθ/vmax,dθ/ωmax,(−v′+sqrt(v′v′+2amaxrdθ))/amax,(−w′+sqrt(w′w′+2αmaxdθ))/αmax);

where, r is the turning radius, dθ is the orientation difference, vmax is the maximum linear speed of the mobile machine, and ωmax is the maximum angular speed of the mobile machine, v′=rdθ/dt, w′=dθ/dt, amax is a maximum linear acceleration of the mobile machine, and αmax is a maximum angular acceleration of the mobile machine.