Method and apparatus for efficient scheduling for multiple automated non-holonomic vehicles using a coordinated path planner
US9188982B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Apr 10, 2012 |
| Grant date | Nov 17, 2015 |
| Priority date | — |
| Expiry date | Apr 10, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0291
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method for coordinating path planning for one or more automated vehicles is described, including receiving an executable task for an automated vehicle, providing a multi-level graph comprising high-level nodes, connection nodes, roadmap nodes, and one or more local paths, constructing a grid corresponding with the multi-level graph, selecting grid squares corresponding to a start position, a goal position, or both if they are off the multi-level graph, determining joining paths from the start position, goal position, or both to the multi-level graph, constructing a solution set of roadmap graphs from the multi-level graph, selecting a coordinate path plan, communicating at least a portion of the coordinate path plan to each automated vehicle, and controlling the automated vehicle in accordance with the coordinate path plan.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.