{
  "$type": "site.standard.document",
  "description": "Provided is a method for controlling movement of an autonomous mobile machine. The method includes that: a target path and a current state of the autonomous mobile machine are acquired; at least one preview distance is calculated according to a current speed; at least one preview point each…",
  "path": "/patents/1303652",
  "publishedAt": "2021-11-04T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0223",
    "Guangzhou Automobile Group Co., Ltd."
  ],
  "textContent": "Provided is a method for controlling movement of an autonomous mobile machine. The method includes that: a target path and a current state of the autonomous mobile machine are acquired; at least one preview distance is calculated according to a current speed; at least one preview point each corresponding to a respective one of the at least one preview distance is acquired according to the target path and the at least one preview distance; a lateral deviation from each preview point to a current position is calculated; a direction control angle parameter of a current control period is acquired according to the lateral deviation, the current speed and a preset parameter matching table; and the autonomous mobile machine is controlled to move according to the direction control angle parameter. Also provided are an apparatus for controlling movement of an autonomous mobile machine, a machine and a storage medium.",
  "title": "Method and Apparatus for Controlling Movement of Autonomous Mobile Machine, Machine, and Storage Medium"
}