System and method for area coverage using sector decomposition
First Claim
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1. A method for executing an area coverage path plan that specifies a path for an autonomous vehicle to follow when the autonomous vehicle is performing an area coverage task, the method comprising:
- 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 the autonomous vehicle based on the comparison of the observed width and the expected width.
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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
20 Claims
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1. A method for executing an area coverage path plan that specifies a path for an autonomous vehicle to follow when the autonomous vehicle is performing an area coverage task, the method comprising:
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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 the autonomous vehicle based on the comparison of the observed width and the expected width. - View Dependent Claims (2, 3, 4, 5, 6, 20)
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7. A method for executing a path plan, the method comprising:
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receiving a worksite map for a worksite having a number of landmarks; generating an area coverage grid map having a number of area coverage grid elements for the worksite using the worksite map; generating a path plan for the worksite using the worksite map and the area coverage grid map; marking the number of landmarks on the worksite map as unvisited; initializing the number of area coverage grid elements as uncovered; and performing an area coverage task at the worksite. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A method for executing a path plan, the method comprising:
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receiving a number of landmark attributes and obstacle information for a worksite; generating an area coverage grid map having a number of grid elements; acquiring an image of a worksite area of the worksite; determining whether a landmark is identified in the image; responsive to a determination that the landmark is identified in the image, determining whether the landmark identified has been visited; and responsive to a determination that the landmark identified has not been visited, calculating a path plan to the landmark identified. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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Specification