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

Claim 11:
12. A method comprising:
defining 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;
determining 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;
moving the vehicle between a first pose in the parking space and a second pose in the ready position;
moving the vehicle between the second pose and a third pose on the target line;
determining a first path segment by tracing the vehicle as the vehicle is moved between the first pose, the second pose, and the third pose;
moving the vehicle between a fourth pose outside the parking space and a fifth pose on the target line;
determining a second path segment by tracing the vehicle as the vehicle is moved between the fourth pose and the fifth pose;
connecting the first path segment to the second path segment to define a virtual path between the first pose and the fourth pose; and
generating one or more control signals that cause a physical vehicle to move in a physical space using the virtual path in the virtual space.