METHOD AND SYSTEM FOR AUTOMATIC PATH PLANNING AND OBSTACLE/COLLISION AVOIDANCE OF AUTONOMOUS VEHICLES
First Claim
1. A method of traversing through a domain, the method comprising:
- setting a set of waypoints to construct a desired path through the domain that avoids boundaries and objects in the domain;
assigning a potential value of v(r)=0 for r on boundaries and obstacles;
assigning a potential value of v(r)=−
1 for r on a goal region, wherein the goal is a point on a planned path;
obtaining a numerical solution to the desired path with a Laplace'"'"'s equation by gridding up the domain with a multi-sized cell grid, wherein the cells near an object are denser then the cells away from the objects;
iteratively setting a potential at each interior point equal to the average of its nearest neighbors; and
following the numerical solution provided by the Laplace'"'"'s equation to the goal region.
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Abstract
Method and systems of traversing through a domain is provided. One method comprises getting a set of widely spaced waypoints, assigning the next waypoint to be the goal, then using a Laplacian path planner to construct a desired finely detailed path towards the goal, through the domain that avoids boundaries and objects in the domain. Assigning a potential value of v(r)=0 for r on boundaries and obstacles. Assigning a potential value of v(r)=−1 for r on a goal region, wherein the goal is a point on a planned path. Obtaining a numerical solution to the desired path with a Laplace'"'"'s equation by gridding up the domain with a multi-sized cell grid, wherein the cells near an object are denser then the cells away from the objects. Iteratively setting a potential at each interior point equal to the average of its nearest neighbors and following the numerical solution provided by the Laplace'"'"'s equation to the goal region.
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Citations
20 Claims
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1. A method of traversing through a domain, the method comprising:
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setting a set of waypoints to construct a desired path through the domain that avoids boundaries and objects in the domain; assigning a potential value of v(r)=0 for r on boundaries and obstacles; assigning a potential value of v(r)=−
1 for r on a goal region, wherein the goal is a point on a planned path;obtaining a numerical solution to the desired path with a Laplace'"'"'s equation by gridding up the domain with a multi-sized cell grid, wherein the cells near an object are denser then the cells away from the objects; iteratively setting a potential at each interior point equal to the average of its nearest neighbors; and following the numerical solution provided by the Laplace'"'"'s equation to the goal region. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for automatic path planning and obstacle/collision avoidance of autonomous vehicles through a domain, the method comprising:
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selecting a set of waypoints that construct a desired planned path from an initial point to a goal; applying a computation box that is centered around the vehicle as the vehicle traverses through the path defined by the waypoints, the computation path allowing for a smaller window of forward computations as the vehicle traverses the path; assigning a potential value of v(r)=0 for r on boundaries and obstacles; assigning a potential value of v(r)=−
1 for r on a goal region, wherein the goal is a point on a planned path; andsolving Laplaces'"'"'s equation in an interior of the domain, guaranteeing no minima in the interior domain, leaving a global minimum of v(r)=−
1 for r on the goal region, and global maxima of v(r)=0 for r on any boundaries or obstacle in directing the vehicle to follow the path. - View Dependent Claims (8, 9, 10, 11, 12)
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13. An autonomous vehicle, comprising:
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an input-path generating module configured to generate a planned path of an area to be traversed based on waypoints by applying a laplacian to a multi-sized cell grid of the area to be traversed; sensors configured to generate sensing data; a guidance module configured to generate guidance commands based at least in part on the planned path from the input-path generating module and the sensing data, the guidance module including, a collision avoidance module configured to generate alternative paths to avoid unforeseen obstacles; and a vehicle control module configured to control the dynamics of the vehicle based at least in part on the guidance command. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification