Path planning process for a mobile surface treatment unit

  • US 6,240,342 B1
  • Filed: 08/02/2000
  • Issued: 05/29/2001
  • Est. Priority Date: 02/03/1998
  • Status: Expired due to Term
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First Claim
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1. A path planning method for a mobile unit for surface processing, comprising the steps of:

  • providing a contour line of the processing surface and at least a contour line of an obstacle to be traveled around within the processing surface in the form of a closed line train composed of straight line sections connected in kinks;

    dependent on a width of a surface processing device attached to the mobile unit, first, potential paths with the processing width are planned essentially parallel to the contour lines that allow the mobile unit to guide the surface processing device along the processing strip which has arisen in this way between the first potential path and the contour line;

    in a further planning step, planning second potential paths in a same way as the first potential paths with the first potential paths as contour lines;

    dividing the potential paths into potential sub-path segments dependent on a length of kinks in the contour lines between which a respective maneuvering mark is marked;

    correcting at least two respective maneuvering marks of immediately adjacent, potential paths by potential sub-path segments; and

    planning the path from interconnected, potential sub-path segments in that these are weighted with a cost function into which at least one of the following cost criteria enters;

    traversability criterion on the basis of kinematics of the mobile unit, area criterion on the basis of processing strips already traversed in relationship to the overall processing area, and length of the potential sub-path.

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