METHOD FOR DEFINING A FALL BACK ROUTE FOR A MOBILE MACHINE, METHOD OF FALL BACK, BY A MOBILE MACHINE, FOR SUCH A ROUTE, ASSOCIATED MODULES AND COMPUTER PROGRAMMES
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United States of America Patent
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Jan 13, 2014
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Jan 18, 2013
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A Method for defining a fall back route comprising of way points, for a mobile machine, in a 3D zone (ZNd) of displacement having convex zones (Zni, i=1 to 7) each describing a polygon in any plane perpendicular to a Z axis over a considered region (Hj, j=1 to 6) of a Z axis, according to which: set of beacons points (PBk, k=1 to 7) is defined, such that the edges of the Voronoi diagram associated with the said set of beacon points separate therebetween the polygons described by the convex zones in a plane perpendicular to the Z axis over the said region.
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