Abstract: A method of planning a path of a vehicle by defining a first plurality of constraints representing dynamics of the vehicle; defining a second plurality of constraints representing collisions with obstacles; defining a third plurality of constraints representing visibility to threats; and using the first, second and third plurality of constraints with mixed integer linear programming to generate a trajectory for a vehicle from a starting point to a destination point in an environment containing the obstacles and the threats.

Abstract: A first member relatively movable with respect to a second member has a latching mechanism which comprises a pin in a first aperture in the first member in alignment with a second aperture in the second member. The latching mechanism includes spring biasing means for biasing the pin into engagement and lever cam means pivotally connected to an end of the locking pin, and link means against a bearing surface of the first member for retracting the pin against the force of the spring biasing means to disengage the pin from the second aperture. The spring biasing means is contained within a spring housing which is in one embodiment removably mounted on the first member by fasteners such as bolts, and the second embodiment by welding to a guide block mounted on the first member. A control mechanism including a control cable attached to a bell crank which is actuable by means of a shaft manually rotatable by means of a control lever serves to actuate the lever cam means to engage or release the locking pin.

Abstract: A collapsible overhead guard for use with an industrial vehicle or the like may be easily lowered so as to accommodate vehicle operation in areas where low overhead clearance is encountered. The guard includes forward and rear telescoping support members joined by a substantially rectangular roof member. The front telescoping support members are rigidly fixed to the roof member and to the vehicle and include bearing mounted rollers to facilitate relative movement. The rear telescoping support members are pivotally connected to the roof member and to the vehicle so that the generally horizontal orientation of the roof member is maintained. Locking means including retractable pins on each support member are provided for retaining the collapsible overhead guard in a plurality of positions.