Computer-implemented method and system for constructing vehicle guidance paths that obey dynamic constraints
AssigneeJaybridge Robotics, Inc.
InventorsJoshua J. Pieper, Jeremy H. Brown, Matthew J. Marjanovic
Life of this patent
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Abstract
A computer-implemented method, system, and computer program product are provided for generating a pre-planned vehicle guidance path for a vehicle by transforming an initial piecewise linear path into a path that obeys a minimum vehicle turning radius constraint.
Claims30
A computer-implemented method of generating a pre-planned vehicle guidance path for a vehicle by transforming an initial piecewise linear path into a path that obeys a minimum vehicle turning radius constraint, the method comprising the steps, each performed by a computer system, of:
- (a) receiving an initial piecewise linear path, a minimum vehicle turning radius constraint, and a maximum allowable error constraint;
- (b) sectioning the initial piecewise linear path into a series of connected linear segments, each having points at opposite ends;
- (c) evaluating each of the points along the piecewise linear path relative to its two immediately neighboring points to determine if an estimated local turning radius based on the point being evaluated and its neighboring points is smaller than the minimum turning radius constraint;
- (d) if the estimated local turning radius is smaller than the minimum turning radius constraint, moving the point being evaluated to a given point between the neighboring points;
- and
- (e) iteratively repeating steps (c) and (d) until there are no points forming an estimated local turning radius that is smaller than the minimum turning radius.
A computer system, comprising:
- at least one processor;
- memory associated with the at least one processor;
- and
- a program supported in the memory for generating a pre-planned vehicle guidance path for a vehicle by transforming an initial piecewise linear path into a path that obeys a minimum vehicle turning radius constraint, the program having a plurality of instructions stored therein which, when executed by the at least one processor, cause the at least one processor to:
- (a) receive an initial piecewise linear path, a minimum vehicle turning radius constraint, and a maximum allowable error constraint;
- (b) section the initial piecewise linear path into a series of connected linear segments, each having points at opposite ends;
- (c) evaluate each of the points along the piecewise linear path relative to its two immediately neighboring points to determine if an estimated local turning radius based on the point being evaluated and its neighboring points is smaller than the minimum turning radius constraint;
- (d) if the estimated local turning radius is smaller than the minimum turning radius constraint, move the point being evaluated to a given point between the neighboring points;
- and
- (e) iteratively repeat steps (c) and (d) until there are no points forming an estimated local turning radius that is smaller than the minimum turning radius.
A computer program product for generating a pre-planned vehicle guidance path for a vehicle by transforming an initial piecewise linear path into a path that obeys a minimum vehicle turning radius constraint, said computer program product residing on a non-transitory computer readable medium having a plurality of instructions stored thereon which, when executed by a computer processor, cause that computer processor to:
- (a) receive an initial piecewise linear path, a minimum vehicle turning radius constraint, and a maximum allowable error constraint;
- (b) section the initial piecewise linear path into a series of connected linear segments, each having points at opposite ends;
- (c) evaluate each of the points along the piecewise linear path relative to its two immediately neighboring points to determine if an estimated local turning radius based on the point being evaluated and its neighboring points is smaller than the minimum turning radius constraint;
- (d) if the estimated local turning radius is smaller than the minimum turning radius constraint, move the point being evaluated to a given point between the neighboring points;
- and
- (e) iteratively repeat steps (c) and (d) until there are no points forming an estimated local turning radius that is smaller than the minimum turning radius.
Dependencies are inferred from the claim text.