Accession Number : ADD018675

Title :   Waypoint Navigation Using Exclusion Zones

Descriptive Note : Patent, Filed 19 Jul 95, patented 8 Jul 97

Corporate Author : DEPARTMENT OF THE NAVY WASHINGTON DC

Personal Author(s) : Jones, gregory B ; Shaw, Christopher ; Hills, J

Report Date : 08 Jul 1997

Pagination or Media Count : 8

Abstract : A method is provided for navigating a vehicle. Waypoint exclusion zones are defined as circles whose centers are known position waypoints. The vehicle is steered along a path that is tangential to the current waypoint exclusion zone. This path that is maintained until a relative bearing between the vehicle and a center of the current waypoint exclusion zone is at least 90 deg if the path is left of the center of the current waypoint exclusion zone. and at most 90 deg if the path is right of the center of the current waypoint exclusion zone. When either of these conditions is met, the vehicle is located along the circle of the current waypoint exclusion zone. The vehicle is then advanced along the circle of the current waypoint exclusion zone until a heading of the vehicle matches a heading of a path that: is tangential to the next waypoint exclusion zone. When the heading of the vehicle matches the heading of the path that is tangential to the next waypoint exclusion zone. the next waypoint exclusion zone becomes the current waypoint exclusion zone for carrying out the steering. maintaining and advancing of the vehicle.

Descriptors :   *AUTONOMOUS NAVIGATION, *UNDERWATER NAVIGATION, *PATENTS, SEAKEEPING, NAVIGATION REFERENCE, COURSE INDICATORS

Subject Categories : Underwater and Marine Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE