Real time planning and scheduling for a team of unmanned vehicles
First Claim
1. A method of forming a traversability map, the method comprising:
- discretizing a map of an obstacle field to obtain traversable edges that avoid the obstacles, the traversable edges meeting at nodes; and
replacing sections of the traversable edges that are beyond the maneuverability of vehicles with traversable arcs.
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Abstract
A method of implementing a plurality of unmanned vehicles over an obstacle field. The method includes obtaining a physical map of the obstacle field. Discretizing the physical map into traversable edges that avoid the obstacles, the traversable edges meeting at nodes. Replacing sections of the traversable edges that are beyond the maneuverability of the unmanned vehicles with traversable arcs. Determining traverse time parameters associated with paths through the obstacle fields, each path made up of select traversable edges and select traversable arcs and using the traverse time parameters in planning and scheduling the vehicles.
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Citations
20 Claims
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1. A method of forming a traversability map, the method comprising:
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discretizing a map of an obstacle field to obtain traversable edges that avoid the obstacles, the traversable edges meeting at nodes; and
replacing sections of the traversable edges that are beyond the maneuverability of vehicles with traversable arcs. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of implementing a plurality of unmanned vehicles over an obstacle field, the method comprising:
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obtaining a physical map of the obstacle field;
discretizing the physical map into traversable edges that avoid the obstacles, the traversable edges meeting at nodes;
replacing sections of the traversable edges that are beyond the maneuverability of the unmanned vehicles with traversable arcs;
determining traverse time parameters associated with paths through the obstacle fields, each path made up of select traversable edges and select traversable arcs; and
using the traverse time parameters in planning and scheduling the vehicles. - View Dependent Claims (9, 10, 11, 12)
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13. A surveillance system, the system comprising:
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a plurality of unmanned vehicles; and
a central controller in communication with the plurality of unmanned vehicles, the controller including, a discretization module including instructions to discretize a physical map of an obstacle field, a planning and scheduling module including instructions to plan and schedule the plurality of unmanned vehicles, and a processor adapted to process the instructions from the discretization module and the planning and scheduling module, the processor further adapted to direct the plurality of the unmanned vehicles based at least in part on the instructions from the discretization module and the planning and scheduling module. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification