System and method for area coverage using sector decomposition
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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Abstract
The different illustrative embodiments provide a method for generating an area coverage path plan using sector decomposition. A starting point is identified on a worksite map having a number of landmarks. A first landmark in the number of landmarks is identified. A path is generated around the first landmark until an obstacle is detected. In response to detecting the obstacle, the path is made linear to a next landmark. The path is generated around the next landmark.
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Citations
9 Claims
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1. An apparatus for generating an area coverage path plan, the apparatus comprising:
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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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2. A method for generating an area coverage path plan, the method comprising:
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identifying a starting point on a worksite map having a number of landmarks; identifying a first landmark in the number of landmarks; generating a path around the first landmark until an obstacle is detected, wherein the path around the first landmark is a set of concentric arcs; responsive to detecting the obstacle, making the path linear to a vicinity of a next landmark; generating the path around the next landmark; identifying a landmark marked as unvisited on the worksite map; sending a message to a vehicle control process to proceed to the landmark marked as unvisited; and executing an area coverage behavior on a path around the landmark. - View Dependent Claims (3)
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4. A method for generating an area coverage path plan, the method comprising:
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identifying a starting point on a worksite map having a number of landmarks; identifying a first landmark in the number of landmarks; generating a path around the first landmark until an obstacle is detected, wherein the path around the first landmark is a set of concentric arcs; responsive to detecting the obstacle, making the path linear to a vicinity of a next landmark; generating the path around the next landmark; determining whether there are any remaining landmarks marked as unvisited; responsive to a determination that there are remaining landmarks marked as unvisited, identifying a next landmark marked as unvisited on the worksite map; and sending a message to a vehicle control process to proceed to the next landmark marked as unvisited; responsive to a determination that there are no remaining landmarks marked as unvisited, determining whether there are any remaining area coverage grid elements marked as uncovered; responsive to a determination that there are remaining area coverage grid elements marked as uncovered, sending a message to the vehicle control process to proceed along the path plan to a visited landmark associated with an area coverage grid element marked as uncovered; and executing an area coverage behavior on a path around the visited landmark.
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5. A method for generating an area coverage path plan, the method comprising:
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identifying a starting point on a worksite map having a number of landmarks; identifying a first landmark in the number of landmarks; generating a path around the first landmark until an obstacle is detected, wherein the path around the first landmark is a set of concentric arcs; responsive to detecting the obstacle, making the path linear to a vicinity of a next landmark; generating the path around the next landmark; determining an expected width of a landmark in pixels for a desired distance away from the landmark; identifying an image having the landmark; determining an observed width of the landmark using the image; comparing the observed width of the landmark to the expected width of the landmark; and sending a message to a vehicle control process to move an autonomous vehicle based on the comparison of the observed width and the expected width. - View Dependent Claims (6, 7, 8, 9)
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Specification