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Methods and systems for autonomous generation of shortest lateral paths for unmanned aerial systems

  • US 10,032,383 B2
  • Filed: 07/08/2016
  • Issued: 07/24/2018
  • Est. Priority Date: 07/14/2015
  • Status: Expired due to Fees
First Claim
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1. A method, comprising:

  • accessing, by executing an instruction with at least one processor, an initial scenario including a source point, a target point, and a no flight zone;

    determining, by executing an instruction with the at least one processor, a computation time for identifying a lateral path for an aircraft to traverse that avoids the no flight zone, the computation time being associated with a first number of vertices of the no flight zone;

    determining, by executing an instruction with the at least one processor, whether the determined computation time satisfies a threshold of a reference computation time;

    when the computation time does not satisfy the threshold of the reference computation time, changing, by executing an instruction with the at least one processor, the first number of vertices of the no flight zone to a second number of vertices of the no flight zone to enable a subsequently determined computation time to satisfy the threshold;

    determining, by executing an instruction with the at least one processor, a buffer area surrounding the no flight zone, wherein the buffer area is defined by an offset distance from a perimeter of the no flight zone;

    constructing, by executing an instruction with the at least one processor, a visibility graph including lateral paths between the source point and the target point, the lateral paths not passing through the no flight zone, the lateral paths connecting the first number of vertices or the second number of vertices of the no flight zone, the first number of vertices or the second number of vertices taking into account the buffer area; and

    identifying, by executing an instruction with the at least one processor, a first lateral path of the lateral paths, the first lateral path being shorter than others of the lateral paths.

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