Method and system for determining an efficient vehicle path
First Claim
1. A method of determining a path plan for a vehicle, the method comprising:
- organizing a work area into partition areas based on at least one of an obstacle, a concavity, and an exclusion area associated with the work area;
establishing an external cost indicator for indicating an economic cost corresponding to the vehicle traversing from one partition area to another partition area for each possible permutation or potential combination of successive partition areas;
searching the established external cost indicators to determine a preferential order of traversing the partition areas, each of the external cost indicators being based on the distance of a transfer path between a candidate prior partition and a candidate subsequent partition; and
determining a preferential path plan based on the internal path plan of each partition and an external path plan of transferring from prior partition to a latter partition until each partition in the work area is traversed.
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Accused Products
Abstract
A system and method for determining a path plan for a vehicle includes organizing a work area into partition areas based on at least one of an obstacle, a concavity, and an exclusion area associated with a work area. An external cost indicator is established for indicating the economic cost corresponding to the vehicle traversing from one partition area to another partition area for each possible permutation or potential combination of successive partition areas. The established external cost indicators are searched to determine a preferential order of traversing the partition areas. A preferential path plan is determined based on the internal path plan of each partition and a transfer path plan of transferring from a prior partition to a latter partition until each partition in the work area is traversed.
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Citations
35 Claims
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1. A method of determining a path plan for a vehicle, the method comprising:
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organizing a work area into partition areas based on at least one of an obstacle, a concavity, and an exclusion area associated with the work area;
establishing an external cost indicator for indicating an economic cost corresponding to the vehicle traversing from one partition area to another partition area for each possible permutation or potential combination of successive partition areas;
searching the established external cost indicators to determine a preferential order of traversing the partition areas, each of the external cost indicators being based on the distance of a transfer path between a candidate prior partition and a candidate subsequent partition; and
determining a preferential path plan based on the internal path plan of each partition and an external path plan of transferring from prior partition to a latter partition until each partition in the work area is traversed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system of determining a path plan for a vehicle, the system comprising:
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an organizer for organizing a work area into partition areas based on at least one of an obstacle, a concavity, and an exclusion area associated with a work area;
a cost estimator for establishing an external cost indicator for indicating an external economic cost corresponding to the vehicle traversing from one partition area to another partition area for each possible permutation or potential combination of successive partition areas;
a search engine for searching the established eternal cost indicators to determine a preferential order of traversing the partition areas, each of the external cost indicators being based on the distance of a transfer path between a candidate prior partition and a candidate subsequent partition;
a path determination module for determining a preferential path plan based on the internal path plan of each partition and an external path plan of transferring from a prior partition to a latter partition until each partition in the work area is traversed. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A method of determining a path plan for vehicle, the method comprising:
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organizing a work area into partition areas comprising regions containing a set of rows for traversal by a vehicle, each partition area being positioned based on a location of at least one of an obstacle, a concavity, and an exclusion area associated with the work area;
establishing an external cost indicator for indicating an economic cost corresponding to the vehicle traversing from one partition area to another partition area for each possible permutation or potential combination of successive partition areas;
searching the established external cost indicators to determine a preferential order of traversing the partition areas; and
determining a preferential path plan based on the internal path plan of each partition and an external path plan of transferring from a prior partition to a latter partition until each partition in the work area is traversed. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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Specification