Patent ID: 6314341
Filing Date: 2001-11-06
Classification: G05D

Abstract:
A method of recording trajectory data for a manually-driven vehicle that moves on a plane, comprising:providing means for periodical motion function execution with a motion-execution interval .DELTA.T;defining a global frame on said plane to describe a vehicle position p=(x, y) and a vehicle orientation .theta. of said manually-driven vehicle;denoting a pair (p, .theta.)=((x, y), .theta.) of said vehicle position and said vehicle orientation as a vehicle frame Q;denoting s as a trajectory length measured along a trajectory from a start position of said manually-driven vehicle;providing means for detecting an incremental trajectory length .DELTA.s during each motion-execution-interval .DELTA.T;providing means for detecting a vehicle orientation change .DELTA..theta. during each motion-execution interval .DELTA.T;initializing said trajectory length s and said vehicle frame Q at an initial state; and executing a sequence of motion functions at every motion-execution interval .DELTA.T, comprising:detecting said incremental trajectory length .DELTA.s;detecting said vehicle orientation change .DELTA..theta.,computing an incremental transformation .DELTA.Q using said incremental trajectory length .DELTA.s and said vehicle orientation change .DELTA..theta.,updating said vehicle frame Q by composing said incremental transformation .DELTA.Q to said vehicle frame Q;updating said trajectory length s by adding .DELTA.s;assembling a trajectory record A which comprises of said trajectory length s and said vehicle frame Q;providing a memory which is able to store said trajectory record A; and storing said trajectory record A to said memory.