Path planner and a method for planning a path of a work vehicle
First Claim
1. A method of planning a path comprising:
- creating a travel row transparency over a mapped area;
splitting the travel rows into travel row sections defined by intersecting the travel row with a map object or boundary;
generating partition nodes from the travel row sections;
linking the partition nodes together to build at least one of a planned drivable vehicle path and a visibility graph;
determining an efficient order of the partition nodes; and
generating a preferential path by looping through the ordered partition nodes in the determined efficient order.
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Accused Products
Abstract
A method for planning a path for a vehicle comprises creating a travel row transparency over a mapped area. The travel row transparency comprises one or more travel rows. The travel rows are split into travel row sections defined by intersecting the travel row with a map object (e.g., a boundary of mapped area). Partition nodes are generated from the travel row sections. The partition nodes or partition edges are linked together to form a potential drivable path consistent with user input and vehicular constrains. An efficient ordering of the partition nodes are determined consistent with the user input. A path is generated by looping through the ordered partition nodes in the determined efficient order.
63 Citations
17 Claims
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1. A method of planning a path comprising:
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creating a travel row transparency over a mapped area;
splitting the travel rows into travel row sections defined by intersecting the travel row with a map object or boundary;
generating partition nodes from the travel row sections;
linking the partition nodes together to build at least one of a planned drivable vehicle path and a visibility graph;
determining an efficient order of the partition nodes; and
generating a preferential path by looping through the ordered partition nodes in the determined efficient order. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A path planner for planning a path, the system comprising:
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a creator for creating a travel row transparency over a mapped area;
a splitter for splitting the travel rows into travel row sections defined by intersecting the travel row with a map object or boundary;
a generator for generating partition nodes based upon the travel row sections, each partition node defined by a respective node identifier;
a data processor for determining an efficient order of the partition nodes based upon the mapped area, defined pattern parameters, established vehicular constraints, and established user-definable preferential rules and for generating a planned path by looping through the ordered partition nodes in the determined efficient order. - View Dependent Claims (14, 15, 16, 17)
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Specification