Path planner and method for planning a contour path of a vehicle
First Claim
1. A method for planning a path of a vehicle, the method comprising:
- defining a reference row having a reference contour in a work area;
establishing a representation of the defined reference row, the reference row comprising at least one of a generally curved component and a generally linear component, wherein the representation comprises one or more critical points of material directional change of the vehicle, each critical point defined by a pair of location data and a corresponding heading, each pair assigned a sequence for traversing the critical points; and
generating one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameterassociated with the curved component.
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Abstract
In accordance with one embodiment of the invention, a path planer and method for planning a path of a vehicle defines a reference row having a reference contour in a work area. A representation of the defined reference row is established. The defined reference row comprises a curved component, a generally linear component, or both. A generator generates one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the curved component. The contour rows are generated by a translation technique for the generally linear component and a radius modification technique for the curved component.
115 Citations
22 Claims
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1. A method for planning a path of a vehicle, the method comprising:
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defining a reference row having a reference contour in a work area; establishing a representation of the defined reference row, the reference row comprising at least one of a generally curved component and a generally linear component, wherein the representation comprises one or more critical points of material directional change of the vehicle, each critical point defined by a pair of location data and a corresponding heading, each pair assigned a sequence for traversing the critical points; and generating one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameterassociated with the curved component. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A path planner for planning a path of a vehicle, the path planner comprising:
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a definer for defining a reference row having a reference contour in a work area; a representation former for establishing a representation of the defined reference row, the representation comprising an arc segment and at least one of a linear segment and a transition; and a generator for generating one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the arc segment;
the contour rows generated by at least one of a translation technique, a radius modification technique, and a hybrid technique;
where the generator comprises a radius modifier for selecting the radius difference parameter such that if the radius difference parameter generally equals the vehicular width, a nesting solution applies to adjacent rows on a local basis. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification