Path planner and a method for planning a path of a work vehicle
AssigneeDeere & Company
InventorsSarah Ann Gray, Shane Lynn Hansen, Nicholas Simon Flann
Life of this patent
Estimating the term…
Abstract
A method for planning a path for a vehicle comprises creating a travel row transparency over a mapped area. The travel row transparency comprises one or more travel rows are split into travel row sections defined by intersecting the travel row with a map object (e.g., a boundary of mapped area). Partition nodes are generated from the travel row sections. The partition nodes or partition edges are linked together to form a potential drivable path consistent with user input and vehicular constrains. An efficient ordering of the partition nodes are determined consistent with the user input. A path is generated by looping through the ordered partition nodes in the determined efficient order.
Claims29
A method of planning a path comprising:
- creating a travel row transparency over a mapped area, the travel row transparency comprising a representation of a group of generally parallel travel rows;
- splitting the travel rows into travel row sections defined by intersecting the travel rows of the travel row transparency with a map object or boundary;
- generating partition nodes associated with ends of the travel row sections;
- linking the partition nodes together to build at least one of a drivable path portion and a visibility graph;
- determining an efficient order of the partition nodes consistent with at least one of a user-definable preferential rule and a pattern parameter for imparting a desired aesthetic appearance to at least a portion of the mapped area;
- and
- generating a preferential path by looping through or interconnecting the ordered partition nodes in the determined efficient order.
A path planner for planning a path, the system comprising:
- a creator for creating a travel row transparency over a mapped area, the travel row transparency comprising a representation of a group of generally parallel travel rows;
- a splitter for splitting the travel rows into travel row sections defined by intersecting the travel rows of the travel transparency with a map object or boundary;
- a generator for generating partition nodes associated with ends of the travel row sections, each partition node defined by a respective node identifier;
- a data processor for determining an efficient order of the partition nodes based upon the mapped area, defined pattern parameters, established vehicular constraints, and established user-definable preferential rules and for generating a planned path by looping through or interconnecting the ordered partition nodes in the determined efficient order consistent with at least one of the user-definable preferential rules and the pattern parameters for imparting a desired aesthetic appearance to at least a portion of the mapped area.
A method of planning a path, the method comprising:
- defining a group of travel row sections being generally parallel to one another and spaced apart from one another in a mapped area, each travel row section having ends or partition nodes associated with a map object or boundary;
- determining an efficient order for a vehicle to traverse the partition nodes such that the associated travel row sections are traversed consistent with at least one of a user-definable preferential rule and a pattern parameter for imparting a desired aesthetic appearance to at least a portion of the mapped area;
- and
- generating a preferential path by looping through or interconnecting the ordered partition nodes in the determined efficient order.
Dependencies are inferred from the claim text.