System and method for area coverage using sector decomposition
First Claim
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1. A method for generating and executing an area coverage path plan, the method comprising:
- identifying, via a processor of an autonomous vehicle, a starting point on a worksite map having a number of landmarks;
identifying, via the processor, a first landmark in the number of landmarks;
generating, via the processor, 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 by the autonomous vehicle, the processor making the path linear to a vicinity of a next landmark;
generating, via the processor, the path around the next landmark, wherein the path around the next landmark is another set of concentric arcs; and
sending control signals to a mobility system of the autonomous vehicle to move the autonomous vehicle according to the generated path to thereby execute the area coverage path plan by the autonomous vehicle.
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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
13 Claims
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1. A method for generating and executing an area coverage path plan, the method comprising:
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identifying, via a processor of an autonomous vehicle, a starting point on a worksite map having a number of landmarks; identifying, via the processor, a first landmark in the number of landmarks; generating, via the processor, 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 by the autonomous vehicle, the processor making the path linear to a vicinity of a next landmark; generating, via the processor, the path around the next landmark, wherein the path around the next landmark is another set of concentric arcs; and sending control signals to a mobility system of the autonomous vehicle to move the autonomous vehicle according to the generated path to thereby execute the area coverage path plan by the autonomous vehicle. - View Dependent Claims (2, 3, 4, 5)
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6. 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 for a worksite using a number of landmarks and a sector decomposition process that generates paths which follow arcs at predefined distances from the number of landmarks; 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. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13)
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Specification