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Path planning

  • US 9,784,586 B2
  • Filed: 07/04/2014
  • Issued: 10/10/2017
  • Est. Priority Date: 07/15/2013
  • Status: Active Grant
First Claim
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1. An apparatus for determining a path for a vehicle, the apparatus comprising:

  • one or more processors configured, using a starting position for the vehicle and a desired terminal position for the vehicle, to perform an optimisation process to determine a position for each path point in an ordered sequence of path points (P1-Pn), the ordered sequence of path points (P1-Pn) defining the path for the vehicle;

    wherein performing the optimisation process comprises;

    minimising a distance between the desired final position for the vehicle and a last path point (Pn) in the sequence of path points (P1-Pn);

    for each path point other than a last path point (Pn) in the sequence of path points (P1-Pn), constraining a distance between that path point and the next path point in the ordered sequence (P1-Pn) to be equal to a predefined distance; and

    for each path point other than the first path point (P1) in the ordered sequence (P1-Pn) and the last path point (Pn) in the ordered sequence (P1-Pn), constraining an angle between a line that connects that path point to the path point that precedes that path point in the ordered sequence (P1-Pn) and a line that connects that path point to the next path point in the ordered sequence (P1-Pn) to be greater than or equal to a predefined angle.

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