Patent ID: 8868328

Claim:
A method using a computer in conjunction with a non-transitory computer readable storage medium, the method comprising: the computer receiving at least one of time-referenced and location-referenced state data for an object of interest; the computer determining a present location of a control vehicle within two presently overlapping fat paths wherein a fat path comprises a homotopically distinct region of travel; the computer determining distance of the control vehicle from a point of divergence of the fat paths, the fat paths diverging to avoid the object of interest; the computer generating a decision boundary reachable prior in time to the point of divergence wherein the decision boundary is in advance of the present location of the control vehicle; the computer generating a first set of feasible headings and a second set of feasible headings for the control vehicle, the first set and the second set respectively associated with a projected first crossing point and a projected second crossing point of the decision boundary by the control vehicle wherein feasible headings promote positioning of the control vehicle in one of the fat paths beyond point of divergence; and the computer sending the first set of feasible headings and the second set of feasible headings to the control vehicle prior to the control vehicle reaching the decision boundary.