Kinematic motion planning with regional planning constraints

• US 10,126,750 B2
• Filed: 11/18/2016
• Issued: 11/13/2018
• Est. Priority Date: 11/19/2015
• Status: Active Grant

• Current Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Original Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Inventors: Cherepinsky, Igor, Ding, Xuchu, Sane, Harshad S.
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/355,555
• Publication Number:
  US 20170146999A1
• Time in Patent Office: 725 Days
• Field of Search: 701467
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft

Abstract

An aspect includes a method of kinematic motion planning includes accessing a list of a plurality of nodes defining a plurality of potential kinematic path locations between a starting position and an ending position of a vehicle. A plurality of constraint sets is determined that apply one or more vehicle motion constraints based on a plurality of spatial regions defined between the starting position and the ending position. The constraint sets are applied in determining a plurality of connections between the nodes to form a kinematic motion path based on locations of the nodes relative to the spatial regions. The kinematic motion path is output to a dynamic path planner to complete creation of a motion path plan for the vehicle.

Claims

1. A method of kinematic motion planning, the method comprising:

accessing a list of a plurality of nodes defining a plurality of potential kinematic path locations between a starting position and an ending position of an aircraft;

determining a plurality of constraint sets that apply one or more vehicle motion constraints specific to each of a plurality of spatial regions defined between the starting position and the ending position;

applying the constraint sets in determining a plurality of connections between the nodes to form a kinematic motion path based on locations of the nodes relative to the spatial regions the kinematic motion path including the plurality of connections between the nodes as path options for a dynamic path planner to determine a motion path plan for the vehicle;

outputting the kinematic motion path to a dynamic path planner to complete creation of a motion path plan for the aircraft, wherein the dynamic path planner applies dynamic motion planning inputs to the kinematic motion path to create the motion path plan, the dynamic motion path planning inputs including at least one of vehicle speed, position, and motion constraints; and

adjusting a position of one or more flight control surfaces to implement the motion path plan.

2. The method of claim 1, wherein the constraint sets comprise one or more limits on a maximum acceleration, a turn rate, and a climb rate of the aircraft.

3. The method of claim 1, wherein the applying of the constraint sets is performed by a sampling-based tree planner, a graph planner, or a grid-based planner.

4. The method of claim 1, wherein the connections are determined by performing a path extension of the kinematic motion path, a curve fit, or an interpolation to produce a smooth transition between the nodes with respect to the constraint sets.

5. The method of claim 1, further wherein the connections are constrained as curvature and torsion limits of the aircraft in three-dimensional space.

6. The method of claim 1, wherein each of the spatial regions is defined as a polygon in three-dimensional space with an associated minimum or maximum speed limit defined for the vehicle.

7. The method of claim 1, wherein the spatial regions and constraint sets are received from a mission manager.

8. The method of claim 1, wherein the method is performed by a system of the aircraft.

9. A kinematic motion planning system for an aircraft, the motion planning system comprising:

a processor; and

memory having instructions stored thereon that, when executed by the processor, cause the kinematic motion planning system to;

access a list of a plurality of nodes defining a plurality of potential kinematic path locations between a starting position and an ending position of the aircraft;

determine a plurality of constraint sets that apply one or more vehicle motion constraints specific to each of a plurality of spatial regions defined between the starting position and the ending position;

apply the constraint sets in determining a plurality of connections between the nodes to form a kinematic motion path based on locations of the nodes relative to the spatial regions, the kinematic motion path including the plurality of connections between the nodes as path options for a dynamic path planner to determine a motion path plan for the vehicle;

output the kinematic motion path to a dynamic path planner to complete creation of a motion path plan for the aircraft, wherein the dynamic path planner applies dynamic motion planning inputs to the kinematic motion path to create the motion path plan, the dynamic motion path planning inputs including at least one of vehicle speed, position, and motion constraints; and

adjusting a position of one or more flight control surfaces to implement the motion path plan.

10. The kinematic motion planning system of claim 9, wherein the constraint sets comprise one or more limits on a maximum acceleration, a turn rate, and a climb rate of the aircraft.

11. The kinematic motion planning system of claim 9, wherein, wherein the constraint sets are applied by a sampling-based tree planner, a graph planner, or a grid-based planner.

12. The kinematic motion planning system of claim 9, wherein, wherein the connections are determined by performing a path extension of the kinematic motion path, a curve fit, or an interpolation to produce a smooth transition between the nodes with respect to the constraint sets.

13. The kinematic motion planning system of claim 9, wherein the connections are constrained as curvature and torsion limits of the vehicle in three-dimensional space.

14. The kinematic motion planning system of claim 9, wherein each of the spatial regions is defined as a polygon in three-dimensional space with an associated minimum or maximum speed limit defined for the aircraft.

15. The kinematic motion planning system of claim 9, wherein the spatial regions and constraint sets are received from a mission manager.