PATH PLANNER AND METHOD FOR PLANNING A CONTOUR PATH OF A VEHICLE
First Claim
1. A method for planning a path of a vehicle, the method comprising:
- defining a reference row having a reference contour in a work area;
establishing a representation of the defined reference row, the reference row comprising at least one of a generally curved component and a generally linear component, wherein the representation comprises one or more critical points of material directional change of the vehicle, each critical point defined by a pair of location data and a corresponding heading, each pair assigned a sequence for traversing the critical points; and
generating one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the curved component.
1 Assignment
0 Petitions
Accused Products
Abstract
In accordance with one embodiment of the invention, a path planer and method for planning a path of a vehicle defines a reference row having a reference contour in a work area. A representation of the defined reference row is established. The defined reference row comprises a curved component, a generally linear component, or both. A generator generates one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the curved component. The contour rows are generated by a translation technique for the generally linear component and a radius modification technique for the curved component.
32 Citations
26 Claims
-
1. A method for planning a path of a vehicle, the method comprising:
-
defining a reference row having a reference contour in a work area;
establishing a representation of the defined reference row, the reference row comprising at least one of a generally curved component and a generally linear component, wherein the representation comprises one or more critical points of material directional change of the vehicle, each critical point defined by a pair of location data and a corresponding heading, each pair assigned a sequence for traversing the critical points; and
generating one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the curved component. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
-
-
15. A path planner for planning a path of a vehicle, the path planner comprising:
-
a definer for defining a reference row having a reference contour in a work area;
a representation former for establishing a representation of the defined reference row. The representation comprising an arc segment and at lest one of a linear segment and a transition; and
a generator for generating one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the arc segment;
the contour rows generated by at least one of a translation technique, a radius modification technique, and a hybrid technique;
where the generator comprises a radius modifier for selecting the radius difference parameter such that if the radius difference parameter generally equals the vehicular width, a nesting solution applies to adjacent rows on a local basis. - View Dependent Claims (16, 17, 18, 19, 20, 22, 23, 25, 26)
-
-
21. (canceled)
-
24. (canceled)
Specification