Method and system for decomposing cross-domain path planning of amphibious vehicle
US12271197B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Jan 13, 2023 |
| Grant date | Apr 8, 2025 |
| Priority date | — |
| Expiry date | Oct 15, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D2109/50
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method and system for decomposing cross-domain path planning of an amphibious vehicle. The method includes: defining a starting point and a target point of cross-domain path planning by acquiring an amphibious map containing coastline information, constructing a candidate set of land-water transition points; setting a multilevel gradient search range on a coastline and a set number of iterations; determining a locally-optimal land-water transition point in each search range in a level-wise search mode; setting a heuristic search termination condition, and determining, based on the heuristic search termination condition, whether a current locally-optimal land-water transition point can be globally optimal; if yes, stopping searching, and determining a globally-optimal land-water transition point; if no, determining whether the range is completely traversed; if yes, stopping searching, and determining a globally-optimal land-water transition point; if no, continuing to traverse the range; finally performing global path planning based on the globally-optimal land-water transition point.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.