Patent ID: 6640164
Filing Date: 2003-10-28
Classification: G05D

Abstract:
A system for remote control of self-propelled vehicles, the system comprising:a leader vehicle, said leader vehicle substantially traversing a waypoint, said waypoint located at a first set of GPS coordinates; said leader vehicle determining said first set of GPS coordinates and transmitting said first set of GPS coordinates to at least one follower vehicle; said follower vehicle located at a position behind said leader vehicle, said position being defined by a second set of GPS coordinates as determined by said follower vehicle; said follower vehicle further comprising: a receiver for receiving said first set of GPS coordinates from said leader vehicle; a comparator for comparing said first set of GPS coordinates to said second set of GPS coordinates and outputting a difference therebetween; a servo-actuator responsive to said difference output of said comparator for controlling steering, drive, and braking systems of said follower vehicle; wherein said servo-actuator guides said follower vehicle toward said waypoint by minimizing the difference between said first set of GPS coordinates and said second set of GPS coordinates, and wherein: said leader vehicle substantially traverses a second waypoint located a predetermined distance from said waypoint, said leader vehicle determining a third set of GPS coordinates of said second waypoint and transmitting said third set of GPS coordinates to said follower vehicle, said follower vehicle receives said third set of GPS coordinates and determines a fourth set of GPS coordinates coincident with a position of said follower vehicle; and said servo-actuator guides said follower vehicle from said fourth set of GPS coordinates to said third set of GPS coordinates.