Map-based trajectory generation
First Claim
1. A mobile vehicle navigation system, comprising:
- a polygon rasterization module configured to perform a polygon rasterization process on one or more maps of an obstacle field to identify obstacle-free regions within the obstacle field;
a shortest path module configured to select an optimal trajectory along which the mobile vehicle can safely traverse the obstacle field; and
a control module configured to ensure that the mobile vehicle can successfully traverse the optimal trajectory selected by the shortest path module.
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Abstract
A mobile vehicle navigation system includes a polygon rasterization module configured to perform a polygon rasterization process on one or more maps of an obstacle field to identify obstacle-free regions within the obstacle field. The navigation system further includes a shortest path module configured to select an optimal trajectory along which the mobile vehicle can safely traverse the obstacle field and a control module configured to ensure that the mobile vehicle can successfully traverse the optimal trajectory selected by the shortest path module. The navigation system can advantageously generate obstacle-free trajectories through an obstacle field in substantially real time in response to user requests.
73 Citations
32 Claims
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1. A mobile vehicle navigation system, comprising:
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a polygon rasterization module configured to perform a polygon rasterization process on one or more maps of an obstacle field to identify obstacle-free regions within the obstacle field;
a shortest path module configured to select an optimal trajectory along which the mobile vehicle can safely traverse the obstacle field; and
a control module configured to ensure that the mobile vehicle can successfully traverse the optimal trajectory selected by the shortest path module. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of generating an obstacle-free trajectory for a mobile vehicle through an obstacle field, the method comprising:
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performing a polygon rasterization process to identify obstacle-free regions within the obstacle field;
determining a number of obstacle-free trajectories through the obstacle field;
selecting an optimal obstacle-free trajectory through the obstacle field; and
solving a control problem to ensure that the mobile vehicle can successfully traverse the selected trajectory. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A method of generating an obstacle-free trajectory for a mobile vehicle through an obstacle field, the method comprising:
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performing precomputations regarding obstacle-free regions within the obstacle field and regarding the safety envelope of the mobile vehicle before the mobile vehicle is in transit;
receiving a user request to change the destination of the mobile vehicle while the mobile vehicle is in transit; and
generating an obstacle-free trajectory along which the mobile vehicle can safely reach the changed destination in substantially real time in response to the user request. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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Specification