Kinematic motion planning with regional planning constraints
US10126750B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 18, 2016 |
| Grant date | Nov 13, 2018 |
| Priority date | — |
| Expiry date | Dec 8, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G5/57
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An aspect includes a method of kinematic motion planning includes accessing a list of a plurality of nodes defining a plurality of potential kinematic path locations between a starting position and an ending position of a vehicle. A plurality of constraint sets is determined that apply one or more vehicle motion constraints based on a plurality of spatial regions defined between the starting position and the ending position. The constraint sets are applied in determining a plurality of connections between the nodes to form a kinematic motion path based on locations of the nodes relative to the spatial regions. The kinematic motion path is output to a dynamic path planner to complete creation of a motion path plan for the vehicle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.