Method and robot system for autonomous control of a vehicle

• US 10,197,407 B2
• Filed: 12/02/2016
• Issued: 02/05/2019
• Est. Priority Date: 12/02/2016
• Status: Active Grant

• Current Assignee: Precision Makers B.V.
• Original Assignee: Precision Makers B.V.
• Inventors: Mouthaan, Pieter Bastiaan, Martinet, Allard Emile Bernadus
• Primary Examiner(s): Soofi, Yazan A
• Application Number:
  US15/367,231
• Publication Number:
  US 20180156622A1
• Time in Patent Office: 795 Days
• Field of Search: 701 25
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

Method of autonomous path planning for a vehicle, comprising the steps of a) determining an outer boundary (2) and an inner boundary (4) of a working area (1a) for a vehicle to operate on, b) providing a direction parameter indicating a primary working direction (6) along which the working area (1a) is to be worked on; c) providing an angle parameter indicating an angle (α) between a secondary working direction (8) and the primary working direction (6), wherein the secondary working direction (8) indicates a direction along which a plurality of working paths (10) are to be arranged within the inner boundary (4). The method further comprising the steps of d) calculating the plurality of working paths (10) within the inner boundary (4) based on the direction parameter and the angle parameter; and e) further calculating one or more connecting paths (16) between the outer boundary (2) and the inner boundary (4), each connecting path connecting two subsequent working paths (10).

Claims

1. A method of autonomous path planning for a vehicle, comprising the steps of

a) determining an outer boundary and an inner boundary of a working area for a vehicle to operate on,

b) providing a direction parameter indicating a primary working direction along which the working area is to be worked on by the vehicle;

c) providing an angle parameter indicating an angle between a secondary working direction and the primary working direction, the secondary working direction indicating a direction along which a plurality of working paths are to be arranged within the inner boundary;

d) calculating the plurality of working paths within the inner boundary based on the direction parameter and the angle parameter; and

e) further calculating one or more connecting paths between the outer boundary and the inner boundary, each connecting path connecting two subsequent working paths and, based on the available connecting space, calculating a straight connecting path, an Omega-turn connecting path, a two-point turn connecting path comprising reverse vehicle motion, or a four-point turn connecting path comprising reverse vehicle motion.

2. The method of claim 1, further comprising the step of calculating a trimming path along at least a part of the inner boundary.

3. The method of claim 2, wherein the method step of calculating the trimming path comprises calculating the trimming path along a closed inner boundary in clockwise or counter clockwise fashion.

4. The method of claim 2, wherein the method step of calculating the trimming path comprises calculating the trimming path at an offset trimming distance from the inner boundary.

5. The method of claim 1, wherein the method step of e) further calculating one or more connecting paths comprises

determining for a connecting path of the one or more connecting paths one or more candidate connecting paths each having an associated penalty score, and

selecting a candidate connecting path having a lowest penalty score;

and

applying the selected candidate connecting path as the calculated connecting path of the one or more connecting paths.

6. The method of claim 5, further comprising defining the lowest penalty score based on inner boundary crossing and outer boundary crossing by the vehicle, wherein inner boundary crossing has a higher penalty score or lower penalty score than a penalty score of outer boundary crossing.

7. The method of claim 1, wherein the method steps of d) calculating the plurality of working paths and/or e) further calculating the one or more connecting paths further comprises avoiding one or more predefined obstacles or one or more dynamically detected obstacles.

8. The method of claim 1, wherein the method steps of d) calculating the plurality of working paths and/or e) further calculating one or more connecting paths comprises calculating a working offset distance from a working path of the plurality of working paths and/or a connection offset distance from a connecting path of the one or more connecting paths.

9. The method of claim 1, wherein the method further comprises calculating an intermediate path connecting the working area and a further working area for the vehicle to work on autonomously.

10. The method of claim 1, wherein the method steps of d) calculating the plurality of working paths and e) further calculating one or more connecting paths are performed by the autonomous vehicle and/or by an external planning system.

11. The method of claim 1, wherein the method step of c) providing an angle parameter comprises providing an angle between 0 and 360°

degrees.

12. The method of claim 1, wherein the method steps of d) calculating the plurality of working paths and/or e) further calculating one or more connecting paths are based on global positioning information with or without differential corrections or local positioning information supplied by one or more local beacons on the working area and/or one or more vision based systems.

13. The method of claim 1, wherein the method steps of d) calculating the plurality of working paths and/or e) further calculating one or more connecting paths comprises calculating and/or selecting optimal curvature algorithms.

14. A robot system for controlling a vehicle, comprising a control unit fitted on a vehicle and a path planning module, the path planning module interfacing with the control unit, one or more vehicle actuators and one or more vehicle sensors, and

wherein the path planning module and control unit are configured for autonomous engagement with the one or more vehicle actuators and the one or more vehicle sensors of the vehicle by

a) determining an outer boundary and an inner boundary of a working area for a vehicle to operate on,

b) providing a direction parameter indicating a primary working direction along which the working area is to be worked on by the vehicle;

c) providing an angle parameter indicating an angle between a secondary working direction and the primary working direction, the secondary working direction indicating a direction along which a plurality of working paths are to be arranged within the inner boundary;

d) calculating the plurality of working paths within the inner boundary based on the direction parameter and the angle parameter; and

e) further calculating one or more connecting paths between the outer boundary and the inner boundary, each connecting path connecting two subsequent working paths, and based on the available connecting space, calculating a straight connecting path, an Omega-turn connecting path, a two-point turn connecting path comprising reverse vehicle motion, or a four-point turn connecting path comprising reverse vehicle motion.