Method and system for dynamically determining and seamlessly switching trajectory planner for autonomous ground vehicles

A system for dynamically determining and seamlessly switching trajectory planner (TP) for an Autonomous Ground Vehicle (AGV), the system comprising:

• a processor;
• and
• a computer-readable medium communicatively coupled to the processor, wherein the computer-readable medium stores processor-executable instructions, which when executed by the processor, cause the processor to:
• determine a derived mission at a current position of the AGV along a global path based on static environment data from a navigation map and dynamic environment data acquired by the AGV, wherein the derived mission corresponds to a local objective of the AGV;
• identify one or more potential TPs from a plurality of TPs based on the derived mission, wherein the plurality of TPs comprises a current TP of the AGV;
• calculate a weighted suitability score for each of the one or more potential TPs based on a set of TP evaluation parameters, wherein the set of TP evaluation parameters comprises at least one of an objective match score, a complexity score, and a data interpretation toughness score;
• and
• determine a new TP from the one or more potential TPs to achieve the derived mission based on the weighted suitability score for each of the one or more potential TPs and a simulated evaluation of the new TP, wherein the simulated evaluation of the new TP comprises determining a projected pose of the AGV by simulating a new trajectory plan by the new TP and evaluating the projected pose with respect to the local objective.

A non-transitory computer-readable medium storing computer-executable instructions for dynamically determining and seamlessly switching trajectory planner (TP) for an Autonomous Ground Vehicle (AGV), the computer-executable instructions are executed for:

• determining a derived mission at a current position of the AGV along a global path based on static environment data from a navigation map and dynamic environment data acquired by the AGV, wherein the derived mission corresponds to a local objective of the AGV;
• identifying one or more potential TPs from a plurality of TPs based on the derived mission, wherein the plurality of TPs comprises a current TP of the AGV;
• calculating a weighted suitability score for each of the one or more potential TPs based on a set of TP evaluation parameters, wherein the set of TP evaluation parameters comprises at least one of an objective match score, a complexity score, and a data interpretation toughness score;
• and
• determining a new TP from the one or more potential TPs to achieve the derived mission based on the weighted suitability score for each of the one or more potential TPs and a simulated evaluation of the new TP, wherein the simulated evaluation of the new TP comprises determining a projected pose of the AGV by simulating a new trajectory plan by the new TP and evaluating the projected pose with respect to the local objective.