Method for generating offset paths for ground vehicles

A non-transitory computer-readable storage medium encoded with executable instructions for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path, wherein the at least one segment of the base path is stored as a set of data points, the instructions comprising instructions for:

• determining a curvature of the at least one segment of the base path at each of the stored set of data points;
• comparing the determined curvature at each of the stored set of data points with a curvature constraint to identify a first subset of points from the stored set of data points that violate the curvature constraint and to identify a second subset of points from the stored set of data points that do not violate the curvature constraint, wherein the curvature constraint is based on a characteristic of the vehicle and a desired offset distance for at least one segment of an offset path from the at least one segment of the base path, and the characteristic reflects the vehicle's ability to traverse at least one segment of a path;
• modifying the first subset of points-to satisfy the curvature constraint;
• and
• generating the at least one segment of the offset path for the vehicle to follow by offsetting the modified first subset of points and the second subset of points by a distance corresponding to the desired offset distance.

A system for generating an offset path for a vehicle based on a base path, wherein the at least one segment of the base path is stored as a set of data points, the system comprising:

• a memory for storing instructions;
• and
• a processor for executing the instructions, the instructions comprising instructions for:
• determining a curvature of the at least one segment of the base path at each of the stored set of data points;
• comparing the-determined curvature at each of the stored set of data points with a curvature constraint to identify a first subset of points from the stored set of data points that violate the curvature constraint and to identify a second subset of points from the stored set of data points that do not violate the curvature constraint, wherein the curvature constraint is based on a characteristic of the vehicle and a desired offset distance for at least one segment of an offset path from the at least one segment of the base path, and the characteristic reflects the vehicle's ability to traverse at least one segment of a path;
• modifying the first subset of points to satisfy the curvature constraint;
• and
• generating the at least one segment of the offset path for the vehicle to follow by offsetting the modified first subset of points and the second subset of points by a distance corresponding to the desired offset distance.