Patent Document ID: 6134502
Application ID: 09201562
Patent Status: 1

Claim One:
1. A method for determining an alternate path by a mobile machine to avoid at least one obstacle, including the steps of: a) assigning an initial value of charge to the mobile machine; b) assigning a value of charge to a desired destination, the charge of the destination being of opposite polarity to the initial charge of the mobile machine; c) determining the presence and the locations of at least one obstacle; d) assigning a value of charge to each of the at least one obstacle, each charge being of like polarity to the initial charge of the mobile machine; e) determining a force vector equation for each of the desired destination and the at least one obstacle with respect to the mobile machine; f) determining a resultant force vector as a function of the force vector equations; and g) controlling the steering and movement of the mobile machine in response to the resultant force vector.