Method for motion planning for autonomous moving objects

2:

• The method according to claim 1, wherein the motion planning computation procedures are based on a principle of a) Obstacle Avoidance, b) Tracking Goal, and/or c) Sliding Motion.

3:

• The method according to claim 2, wherein when a) no obstacle is detected and/or b) a threat for the AMO and/or the obstacle is detected, the trajectory is computed using Tracking Goal,
• wherein when a computed trajectory at least touching the GA and a threat is detected, the trajectory is computed using Sliding motion, and
• wherein when an actual position of the AMO is closer to the obstacle than a minimum distance between the GA and the obstacle, the trajectory is computed using Obstacle Avoidance.

4:

• The method according to claim 1, wherein the GA is defined by a function based on a distance to a detected obstacle and associated with a yaw rate of the AMO.

5:

• The method according to claim 3, wherein the trajectory computed using Sliding Motion enters, lies within, and exits the GA.

6:

• The method according to claim 1, wherein a plurality of GA are defined, at least two of the GA are associated with different computational boundaries defined by physical parameters to be respected when computing a trajectory.

7:

• The method according to claim 1, wherein a size of a GA is selected such that a certain smoothness of the trajectory is provided when computing the trajectory.

8:

• The method according to claim 1, wherein the GA has a shape of a sphere, an ellipsoid, and/or a hyper polygon.

9:

• The method according to claim 1, wherein the method is performed using single-path exploration and/or using sample-based exploration with an underlying exploration tree.

10:

• A motion planning device for motion planning for autonomous moving objects (AMO), the motion planning device being configured to:
• continuously compute or update a time-dependent trajectory of an AMO to a destination avoiding obstacles en route to the destination,
• wherein the time-dependent trajectory is computed using one or more motion planning computation procedures, wherein a switching to another motion planning computation procedure is performed when an obstacle is detected or not detected anymore, wherein an obstacle is determined to be detected when a point on said computed trajectory lies within or touches a guard area (GA) around the obstacle, the border of the GA having a certain distance from the detected obstacle.

11:

• The device according to claim 10, wherein the device is adapted to convert the computed trajectory into steering information and speed information for an AMO.

12:

• The device according to claim 10, wherein the device is connected to one or more sensors of the AMO for obstacle detection, position, and orientation determination.

13:

• The device according to claim 10, wherein the device is connected to a database providing map information.

15:

• An autonomous moving object comprising or connected to a motion planning device according to claim 10 adapted to perform moving according to the information provided by the motion planning device.