SYSTEM AND METHOD FOR PATH PLANNING
First Claim
1. A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object, the method comprising:
- creating the first motion path for the first object using the path planner;
initializing a start position of the first object within the first motion path;
determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner;
calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner;
if the calculated elapsed time is one of greater than and less than a sample period, determine a current location of the second object in the second motion path utilizing the calculated elapsed time;
calculating an expired time within a first segment of the plurality of segments between a start time of the first segment and the current sample call time; and
generating an output command from the path planner, the execution of the generated output command altering the first motion path.
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Accused Products
Abstract
A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner. If the calculated elapsed time is one of greater than and less than a sample period, a current location of the second object in the second motion path is determined utilizing the calculated elapsed time, an expired time within a first segment of the plurality if segments between a start time of the first segment and the current sample call time is calculated, and an output command is generated from the path planner. Execution of the generated output command alters the first motion path.
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Citations
17 Claims
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1. A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object, the method comprising:
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creating the first motion path for the first object using the path planner; initializing a start position of the first object within the first motion path; determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner; calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner; if the calculated elapsed time is one of greater than and less than a sample period, determine a current location of the second object in the second motion path utilizing the calculated elapsed time; calculating an expired time within a first segment of the plurality of segments between a start time of the first segment and the current sample call time; and generating an output command from the path planner, the execution of the generated output command altering the first motion path. - View Dependent Claims (2, 3, 4, 5)
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6. A system for mapping continuous time kinematic motion equations into a discrete time domain, the system comprising:
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a memory area for storing path planner information including an initial time a first motion path was planned and an initial condition for each segment of a plurality of segments in the first motion path, the plurality of segments defined by discontinuities introduced by the continuous time kinematic motion equations; and a processor programmed to; create the first motion path for a first object using the path planner based on a second motion path of a second object; initialize a start position of the first object within the first motion path; determine a value for an initial condition for each segment created by the path planner; calculate an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner; if the calculated elapsed time is one of greater than and less than a sample period, determine a current location of the second object in the second motion path utilizing the calculated elapsed time; calculate an expired time within a first segment of the plurality of segments between a start time of the first segment and the current sample call time; and generate an output command from the path planner, the execution of the generated output command altering the first motion path. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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13. A computer readable medium storing a program instructing a computer to perform a method for mapping continuous time kinematic motion equations into a discrete time domain, the instructions comprising:
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creating a first motion path for a first object using a path planner; initializing a start position of the first object within the first motion path; determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner; calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner; if the calculated elapsed time is one of greater than and less than a sample period, determining a current location of the second object in the second motion path utilizing the calculated elapsed time; calculating an expired time within a first segment of the plurality of segments between a start time of the first segment and the current sample call time; and generating an output command from the path planner, the execution of the generated output command altering the first motion path. - View Dependent Claims (14, 15, 16, 17)
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Specification