SYSTEM AND METHOD FOR AREA COVERAGE USING SECTOR DECOMPOSITION
First Claim
Patent Images
1. A method for generating an area coverage path plan, the method comprising:
- identifying a starting point on a worksite map having a number of landmarks;
identifying a first landmark in the number of landmarks;
generating a path around the first landmark until an obstacle is detected;
responsive to detecting the obstacle, making the path linear to a vicinity of a next landmark; and
generating the path around the next landmark.
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Abstract
The different illustrative embodiments provide a method for generating an area coverage path plan using sector decomposition. A starting point is identified on a worksite map having a number of landmarks. A first landmark in the number of landmarks is identified. A path is generated around the first landmark until an obstacle is detected. In response to detecting the obstacle, the path is made linear to a next landmark. The path is generated around the next landmark.
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Citations
34 Claims
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1. A method for generating an area coverage path plan, the method comprising:
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identifying a starting point on a worksite map having a number of landmarks; identifying a first landmark in the number of landmarks; generating a path around the first landmark until an obstacle is detected; responsive to detecting the obstacle, making the path linear to a vicinity of a next landmark; and generating the path around the next landmark. - View Dependent Claims (2, 3, 4, 5)
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6. A method for executing an area coverage path plan, the method comprising:
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determining an expected width of a landmark in pixels for a desired distance away from the landmark; identifying an image having the landmark; determining an observed width of the landmark using the image; comparing the observed width of the landmark to the expected width of the landmark; and sending a message to a vehicle control process to move an autonomous vehicle based on the comparison of the observed width and the expected width. - View Dependent Claims (7, 8, 9, 10, 11)
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12. A method for executing a path plan, the method comprising:
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receiving a worksite map for a worksite having a number of landmarks; generating an area coverage grid map having a number of area coverage grid elements for the worksite using the worksite map; generating a path plan for the worksite using the worksite map and the area coverage grid map; marking the number of landmarks on the worksite map as unvisited; initializing the number of area coverage grid elements as uncovered; and performing an area coverage task at the worksite. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A method for executing a path plan, the method comprising:
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receiving a number of landmark attributes and obstacle information for a worksite; generating an area coverage grid map having a number of grid elements; acquiring an image of a worksite area of the worksite; determining whether a landmark is identified in the image; responsive to a determination that the landmark is identified in the image, determining whether the landmark identified has been visited; and responsive to a determination that the landmark identified has not been visited, calculating a path plan to the landmark identified. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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25. An apparatus for generating an area coverage path plan, the apparatus comprising:
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a processor unit configured to generate an area coverage path plan for a worksite using a number of landmarks; and a vehicle control process configured to execute the area coverage path plan for the worksite received from the processor unit using a mobility system. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33)
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34. An apparatus for generating an area coverage path plan, the apparatus comprising:
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a processor unit configured to generate an area coverage path plan using a number of landmarks for a worksite by generating a path around a first landmark until an obstacle is detected, and responsive to detecting the obstacle, making the path linear to a vicinity of a next landmark, and generating the path around the next landmark; and a vehicle control process configured to execute the area coverage path plan for the worksite received from the processor unit using a mobility system.
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Specification