Space partitioning for motion planning
AssigneeSikorsky Aircraft Corporation
InventorsHarshad S. Sane, Jason C. Derenick, Brendan J. Englot, Thomas A. Frewen
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Abstract
An aspect includes space partitioning for vehicle motion planning. A plurality of obstacle data is analyzed to determine a plurality of obstacle locations in a configuration space of a vehicle. A partitioning of the configuration space is performed to compute a skeletal partition representing a plurality of obstacle boundaries based on the obstacle locations. The skeletal partition is used to preferentially place a plurality of samples by a sampling-based motion planner. At least one obstacle-free path is output by the sampling-based motion planner based on the samples.
Claims12
A method of space partitioning for motion planning, the method comprising:
- analyzing a plurality of obstacle data in a system of a vehicle to determine a plurality of obstacle locations in a configuration space of the vehicle;
- performing a partitioning of the configuration space into three-dimensional cells defined as free space or obstacles in the system of the vehicle to compute a skeletal partition representing a plurality of obstacle boundaries based on the obstacle locations;
- using the skeletal partition in the system of the vehicle to preferentially place a plurality of samples by a sampling-based motion planner;
- and
- outputting from the system of the vehicle at least one obstacle-free path by the sampling-based motion planner based on the samples.
A method of space partitioning for motion planning, the method comprising:
- analyzing a plurality of obstacle data in a system of a vehicle to determine a plurality of obstacle locations in a configuration space of the vehicle;
- performing a partitioning of the configuration space in the system of the vehicle to compute a skeletal partition representing a plurality of obstacle boundaries based on the obstacle locations;
- using the skeletal partition in the system of the vehicle to preferentially place a plurality of samples by a sampling-based motion planner;
- and
- outputting from the system of the vehicle at least one obstacle-free path by the sampling-based motion planner based on the samples, wherein the obstacle data are acquired from a combination of a priori terrain data and sensor data of the vehicle.
A motion planning system for a vehicle, the motion planning system comprising:
- a processor;
- and
- memory having instructions stored thereon that, when executed by the processor, cause the motion planning system to:
- analyze in a system of the vehicle a plurality of obstacle data to determine a plurality of obstacle locations in a configuration space of the vehicle;
- perform a partitioning of the configuration space in the system of the vehicle to compute a skeletal partition representing a plurality of obstacle boundaries based on the obstacle locations;
- use the skeletal partition in the system of the vehicle to preferentially place a plurality of samples by a sampling-based motion planner;
- and
- output from the system of the vehicle at least one obstacle-free path by the sampling-based motion planner based on the samples, wherein the obstacle data are acquired from a combination of a priori terrain data and sensor data of the vehicle.
Dependencies are inferred from the claim text.