Patent ID: 8024069

Claim:
A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object, the method comprising: creating the first motion path for the first object using the path planner; initializing a start position of the first object within the first motion path; determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner; calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner; if the calculated elapsed time is one of greater than and less than a sample period, determine a current location of the second object in the second motion path utilizing the calculated elapsed time; calculating an expired time within a first segment of the plurality of segments between a start time of the first segment and the current sample call time; and generating an output command from the path planner, the execution of the generated output command altering the first motion path.