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US 8,818,712 B2Granted
Maritime path determination
AssigneeRaytheon Company
InventorsJuan E. Sandoval, Nicholas I. Sapankevych, Sara R. Lemley
Life of this patent
Estimating the term…
Abstract
In certain embodiments, determining maritime paths includes accessing a feasibility matrix comprising feasibility values for locations of an area. A feasibility value indicates navigability at a location. One or more non-navigable locations represent one or more barriers. Waypoints around the barriers are determined. A cost matrix comprising cost values is calculated. A cost value indicates a distance between two points of a set of points, where the set of points comprises one or more start points, one or more end points, and the waypoints. Dijkstra's technique is applied to a selected start point and a selected end point to yield a shortest length path between the selected start point and the selected end point.
Claims14
A method comprising:
- accessing a feasibility matrix comprising a plurality of feasibility values for a plurality of locations of an area, each feasibility value indicating navigability at a location, one or more non-navigable locations representing one or more barriers;
- determining a plurality of waypoints around the one or more barriers;
- calculating a cost matrix comprising a plurality of cost values, each cost value indicating a distance between two points of a set of points, the set of points comprising one or more start points, one or more end points, and the plurality of waypoints;
- applying Dijkstra's technique to a selected start point and a selected end point to yield a shortest length path between the selected start point and the selected end point;
- wherein the determining the plurality of waypoints includes:
- creating a plurality of candidate waypoints surrounding at least one barrier, the at least one barrier associated with one or more candidate start points;
- applying Dijkstra's technique to the one or more candidate start points to yield one or more paths;
- and
- discarding any candidate waypoints not used in any of the one or more paths;
- and
- wherein the creating the plurality of candidate waypoints includes:
- creating an initial set of candidate waypoints at an initial distance from the at least one barrier;
- and
- repeating the following for a predetermined number of iterations:
- creating a current set of candidate waypoints at a current distance from the at least one barrier, the current distance greater than a previous distance from the at least one barrier.
12 more elements
A system comprising:
- one or more memories operable to store a feasibility matrix comprising a plurality of feasibility values for a plurality of locations of an area, each feasibility value indicating navigability at a location, one or more non-navigable locations representing one or more barriers;
- and
- one or more processors operable to:
- determine a plurality of waypoints around the one or more barriers;
- calculate a cost matrix comprising a plurality of cost values, each cost value indicating a distance between two points of a set of points, the set of points comprising one or more start points, one or more end points, and the plurality of waypoints;
- apply Dijkstra's technique to a selected start point and a selected end point to yield a shortest length path between the selected start point and the selected end point;
- wherein the determining the plurality of waypoints includes:
- creating a plurality of candidate waypoints surrounding at least one barrier, the at least one barrier associated with one or more candidate start points;
- applying Dijkstra's technique to the one or more candidate start points to yield one or more paths;
- and
- discarding any candidate waypoints not used in any of the one or more paths;
- and
- wherein the creating the plurality of candidate waypoints includes:
- creating an initial set of candidate waypoints at an initial distance from the at least one barrier;
- and
- repeating the following for a predetermined number of iterations:
- creating a current set of candidate waypoints at a current distance from the at least one barrier, the current distance greater than a previous distance from the at least one barrier.
14 more elements
One or more non-transitory computer readable media comprising logic when executed operable to:
- access a feasibility matrix comprising a plurality of feasibility values for a plurality of locations of an area, each feasibility value indicating navigability at a location, one or more non-navigable locations representing one or more barriers;
- determine a plurality of waypoints around the one or more barriers;
- calculate a cost matrix comprising a plurality of cost values, each cost value indicating a distance between two points of a set of points, the set of points comprising one or more start points, one or more end points, and the plurality of waypoints;
- apply Dijkstra's technique to a selected start point and a selected end point to yield a shortest length path between the selected start point and the selected end point;
- wherein the determine the plurality of waypoints includes:
- creating a plurality of candidate waypoints surrounding at least one barrier, the at least one barrier associated with one or more candidate start points;
- applying Dijkstra's technique to the one or more candidate start points to yield one or more paths;
- and
- discarding any candidate waypoints not used in any of the one or more paths;
- and
- wherein the create the plurality of candidate waypoints includes:
- creating an initial set of candidate waypoints at an initial distance from the at least one barrier;
- and
- repeating the following for a predetermined number of iterations:
- creating a current set of candidate waypoints at a current distance from the at least one barrier, the current distance greater than a previous distance from the at least one barrier.
12 more elements
Dependencies are inferred from the claim text.