SURFACE VEHICLE TRAJECTORY PLANNING SYSTEMS, DEVICES, AND METHODS
First Claim
1. An operating system comprising:
- a planning module configured to determine a trajectory for a surface vehicle that avoids one or more moving obstacles by performing a lattice-based heuristic search of a state space for the surface vehicle and selecting control action primitives from a predetermined set of control action primitives for the surface vehicle based on the search,wherein the planning module separates a travel space for the surface vehicle into a plurality of regions and independently scales the control action primitives in each region based on the moving obstacles therein,wherein the heuristic search includes evaluating a cost function at each state of the state space, andwherein the cost function is based on at least predicted movement of the obstacles responsive to respective maneuvers performed by the surface vehicle at each node of said search.
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Abstract
A planning module for a water surface vehicle can determine a vehicle trajectory that avoids one or more moving obstacles, such as civilian marine vessels, by performing a lattice-based heuristic search of a state space for the surface vehicle and selecting control action primitives from a predetermined set of control action primitives based on the search. The planning module can separate a travel space into a plurality of regions and can independently scale the control action primitives in each region based on the moving obstacles therein. The heuristic search includes evaluating a cost function at each state of the state space. The cost function can be based on at least predicted movement of the obstacles responsive to respective maneuvers performed by the surface vehicle at each node of the search.
42 Citations
20 Claims
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1. An operating system comprising:
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a planning module configured to determine a trajectory for a surface vehicle that avoids one or more moving obstacles by performing a lattice-based heuristic search of a state space for the surface vehicle and selecting control action primitives from a predetermined set of control action primitives for the surface vehicle based on the search, wherein the planning module separates a travel space for the surface vehicle into a plurality of regions and independently scales the control action primitives in each region based on the moving obstacles therein, wherein the heuristic search includes evaluating a cost function at each state of the state space, and wherein the cost function is based on at least predicted movement of the obstacles responsive to respective maneuvers performed by the surface vehicle at each node of said search. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer-readable storage medium upon which is embodied a sequence of programmed instructions that cause a computer processing system of a surface vehicle to:
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separate a travel space for the surface vehicle into a plurality of regions; independently scale control action primitives in each of said regions based on moving obstacles therein; perform a lattice-based heuristic search of a state space for the surface vehicle in each of said regions; based on the heuristic search, select a particular control action primitive from a predetermined set of control action primitives, and iterate the performing and selecting so as to build a determined trajectory for the surface vehicle by concatenating the selected control action primitives, wherein the heuristic search includes evaluating a cost function at each state of the state space, and wherein the cost function is based on at least predicted movement of the obstacles responsive to respective maneuvers performed by the surface vehicle at each iteration of the search. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A surface vehicle comprising:
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at least one actuator for propelling or directing the surface vehicle through a travel space; and a planning module that determines a trajectory for the surface vehicle that avoids one or more moving obstacles in the travel space, wherein the planning module performs a lattice-based heuristic search of a state space for the surface vehicle and selects control action primitives from a predetermined set of control action primitives based on the search, wherein the planning module separates the travel space into a plurality of regions and independently scales the control action primitives in each region based on the moving obstacles therein, wherein the heuristic search includes evaluating a cost function at each state of the state space, and wherein the cost function is based on at least predicted movement of the obstacles responsive to the selected control action at each node of the search. - View Dependent Claims (17, 18, 19, 20)
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Specification