Path planner and a method for planning a path of a work vehicle
First Claim
1. A method of planning a path comprising:
- creating a travel row transparency over a mapped area, the travel row transparency comprising a representation of a group of generally parallel travel rows;
splitting the travel rows into travel row sections defined by intersecting the travel rows of the travel row transparency with a map object or boundary;
generating partition nodes associated with ends of the travel row sections;
linking the partition nodes together to build at least one of a drivable path portion and a visibility graph;
determining an efficient order of the partition nodes consistent with at least one of a user-definable preferential rule and a pattern parameter for imparting a desired aesthetic appearance to at least a portion of the mapped area; and
generating a preferential path by looping through or interconnecting the ordered partition nodes in the determined efficient order.
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Accused Products
Abstract
A method for planning a path for a vehicle comprises creating a travel row transparency over a mapped area. The travel row transparency comprises one or more travel rows are split into travel row sections defined by intersecting the travel row with a map object (e.g., a boundary of mapped area). Partition nodes are generated from the travel row sections. The partition nodes or partition edges are linked together to form a potential drivable path consistent with user input and vehicular constrains. An efficient ordering of the partition nodes are determined consistent with the user input. A path is generated by looping through the ordered partition nodes in the determined efficient order.
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Citations
29 Claims
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1. A method of planning a path comprising:
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creating a travel row transparency over a mapped area, the travel row transparency comprising a representation of a group of generally parallel travel rows;
splitting the travel rows into travel row sections defined by intersecting the travel rows of the travel row transparency with a map object or boundary;
generating partition nodes associated with ends of the travel row sections;
linking the partition nodes together to build at least one of a drivable path portion and a visibility graph;
determining an efficient order of the partition nodes consistent with at least one of a user-definable preferential rule and a pattern parameter for imparting a desired aesthetic appearance to at least a portion of the mapped area; and
generating a preferential path by looping through or interconnecting the ordered partition nodes in the determined efficient order. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A path planner for planning a path, the system comprising:
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a creator for creating a travel row transparency over a mapped area, the travel row transparency comprising a representation of a group of generally parallel travel rows;
a splitter for splitting the travel rows into travel row sections defined by intersecting the travel rows of the travel transparency with a map object or boundary;
a generator for generating partition nodes associated with ends of the travel row sections, each partition node defined by a respective node identifier;
a data processor for determining an efficient order of the partition nodes based upon the mapped area, defined pattern parameters, established vehicular constraints, and established user-definable preferential rules and for generating a planned path by looping through or interconnecting the ordered partition nodes in the determined efficient order consistent with at least one of the user-definable preferential rules and the pattern parameters for imparting a desired aesthetic appearance to at least a portion of the mapped area. - View Dependent Claims (23, 24, 25, 26, 27, 28)
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29. A method of planning a path, the method comprising:
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defining a group of travel row sections being generally parallel to one another and spaced apart from one another in a mapped area, each travel row section having ends or partition nodes associated with a map object or boundary;
determining an efficient order for a vehicle to traverse the partition nodes such that the associated travel row sections are traversed consistent with at least one of a user-definable preferential rule and a pattern parameter for imparting a desired aesthetic appearance to at least a portion of the mapped area; and
generating a preferential path by looping through or interconnecting the ordered partition nodes in the determined efficient order.
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Specification