06785610 is referenced by 20 patents.

An obstacle avoidance system, apparatus, and method is described suitable for use on autonomously guided or man-in-the-loop guided vehicles such as aircraft, missiles, cars, and other types of vehicles. The system provides guidance instructions in the situation where the vehicle encounters an obstacle either directly or indirectly in its path while traveling to a desired destination or where vehicles are traveling in formation. The system can be applied not only to obstacle avoidance but also to trajectory shaping by defining obstacles, operational boundaries and/or threats which influence the trajectory of the vehicle.

Title
Spatial avoidance method and apparatus
Application Number
10/168700
Publication Number
6785610 (B2)
Application Date
June 20, 2002
Publication Date
August 31, 2004
Inventor
Scott J Paynter
Grand Prairie
TX, US
Brian C Baker
Arlington
TX, US
Agent
Sidley Austin Brown & Wood
US
Agent
Stephen S Sadacca
US
Assignee
Lockheed Martin Corporation
MD, US
IPC
G06F 15/50
View Original Source