System and Method for Area Coverage Using Sector Decomposition
First Claim
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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, wherein the path around the first landmark is a set of concentric arcs;
responsive to detecting the obstacle, making the path linear to a vicinity of a next landmark; and
generating the path around the next landmark, wherein the path around the next landmark is another set of concentric arcs.
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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.
29 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, wherein the path around the first landmark is a set of concentric arcs; responsive to detecting the obstacle, making the path linear to a vicinity of a next landmark; and generating the path around the next landmark, wherein the path around the next landmark is another set of concentric arcs. - View Dependent Claims (2, 3, 4, 5)
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6-24. -24. (canceled)
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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 sector decomposition process that generates paths which follow arcs at predefined distances from the 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. (canceled)
Specification