Path planner and method for planning a contour path of a vehicle
AssigneeDeere & Company
InventorsNicholas Flann, Shane Hansen, Sarah Gray
Life of this patent
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Abstract
In accordance with one embodiment of the invention, a path planer and method for planning a path of a vehicle defines a reference row having a reference contour in a work area. A representation of the defined reference row is established. The defined reference row comprises a curved component, a generally linear component, or both. A generator generates one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the curved component. The contour rows are generated by a translation technique for the generally linear component and a radius modification technique for the curved component.
Claims26
A method for planning a path of a vehicle, the method comprising:
- defining a reference row having a reference contour in a work area;
- establishing a representation of the defined reference row, the reference row comprising at least one of a generally curved component and a generally linear component, wherein the representation comprises one or more critical points of material directional change of the vehicle, each critical point defined by a pair of location data and a corresponding heading, each pair assigned a sequence for traversing the critical points;
- and
- generating one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the curved component.
A path planner for planning a path of a vehicle, the path planner comprising:
- a definer for defining a reference row having a reference contour in a work area;
- a representation former for establishing a representation of the defined reference row. The representation comprising an arc segment and at lest one of a linear segment and a transition;
- and
- a generator for generating one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the arc segment;
- the contour rows generated by at least one of a translation technique, a radius modification technique, and a hybrid technique;
- where the generator comprises a radius modifier for selecting the radius difference parameter such that if the radius difference parameter generally equals the vehicular width, a nesting solution applies to adjacent rows on a local basis.
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Dependencies are inferred from the claim text.