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System and method for area coverage using sector decomposition

  • US 8,224,516 B2
  • Filed: 12/17/2009
  • Issued: 07/17/2012
  • Est. Priority Date: 12/17/2009
  • Status: Active Grant
First Claim
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1. An apparatus for generating an area coverage path plan, the apparatus comprising:

  • a processor unit configured to generate an area coverage path plan using a number of landmarks for a worksite by generating a path around a first landmark until an obstacle is detected, and responsive to detecting the obstacle, making the path linear to a vicinity of a next landmark, and generating the path around the next landmark; 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;

    wherein the processor unit is further configured to receive a worksite map for the worksite having the number of landmarks;

    generate an area coverage grid map having a number of area coverage grid elements for the worksite using the worksite map;

    generate a path plan for the worksite using the worksite map and the area coverage grid map;

    mark the number of landmarks on the worksite map as unvisited; and

    initialize the number of area coverage grid elements as uncovered.

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