Vehicle routing and path planning
First Claim
1. A method of determining a path having an ordered set of waypoints to be visited by a mobile agent to accomplish a mission, the method comprising:
- a. subject to a path production heuristic, producing candidate paths using a multi-objective optimization algorithm;
b. subject to a path selection heuristic, selecting a path from the candidate paths;
c. instructing the mobile agent to move according to the selected path;
d. subject to the path production heuristic, modifying a maintained subset of the candidate paths to produce a new candidate path using the algorithm;
e. subject to the path selection heuristic, designating one of the selected path and the new candidate path as the selected path; and
f. instructing the mobile agent to move according to the selected path.
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Accused Products
Abstract
A method of determining a path having an ordered set of waypoints to be visited by a mobile agent to accomplish a mission includes: producing candidate paths using a multi-objective optimization algorithm, subject to a path production heuristic; selecting a path from the candidate paths, subject to a path selection heuristic; instructing the mobile agent to move according to the selected path; modifying a maintained subset of the candidate paths to produce a new candidate path using the algorithm and subject to the path production heuristic; designating either the currently-selected path or the new candidate path as the newly-selected path, subject to the path selection heuristic; and instructing the mobile agent to move according to the newly-selected path. The method may further include iterating production of new candidate paths, either randomly or based on modifications of previous candidate paths, to continually update an operation plan for the mobile agent.
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Citations
76 Claims
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1. A method of determining a path having an ordered set of waypoints to be visited by a mobile agent to accomplish a mission, the method comprising:
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a. subject to a path production heuristic, producing candidate paths using a multi-objective optimization algorithm;
b. subject to a path selection heuristic, selecting a path from the candidate paths;
c. instructing the mobile agent to move according to the selected path;
d. subject to the path production heuristic, modifying a maintained subset of the candidate paths to produce a new candidate path using the algorithm;
e. subject to the path selection heuristic, designating one of the selected path and the new candidate path as the selected path; and
f. instructing the mobile agent to move according to the selected path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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39. A method of determining paths for a fleet of mobile agents to accomplish missions, every path having an ordered set of waypoints to be visited by a corresponding mobile agent, the method comprising:
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a. subject to a path production heuristic, producing candidate path sets using a multi-objective optimization algorithm;
b. subject to a path selection heuristic, selecting a path set from the candidate path sets, wherein every mobile agent has an associated path belonging to the selected path set;
c. instructing a first subset of the mobile agents to move according to paths respectively associated with the first subset;
d. subject to the path production heuristic, modifying a maintained subset of the candidate path sets to produce a new candidate path set using the algorithm;
e. subject to the path selection heuristic, designating one of the selected path set and the new candidate path set as the selected path set; and
f. instructing a second subset of the mobile agents to move according to paths belonging to the selected path set, respectively associated with the second subset. - View Dependent Claims (40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74)
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75. A method of determining movement of a mobile agent to accomplish a mission, subject to a constraint, the method comprising:
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a. producing candidate paths using a multi-objective optimization algorithm;
b. from the candidate paths, selecting a path satisfying the constraint;
c. instructing the mobile agent to move according to the selected path;
d. continually producing new candidate paths using the algorithm;
e. based at least partially on the constraint, designating one of the selected path and the new candidate paths as the selected path;
and f. instructing the mobile agent to move according to the selected path.
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76. A method of determining movement of mobile agents to accomplish missions, subject to constraints, the method comprising:
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a. producing candidate path sets using a multi-objective optimization algorithm;
b. from the candidate path sets, selecting a path set satisfying the constraints, wherein every mobile agent has an associated path belonging to the selected path set;
c. instructing a first subset of the mobile agents to move according to paths respectively associated with the first subset;
d. continually producing new candidate path sets using the algorithm;
e. based at least partially on the constraint, designating one of the selected path set and the new candidate paths set as the selected path set; and
f. instructing a second subset of the mobile agents to move according to paths respectively associated with the second subset.
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Specification