- 专利标题: SPACE PARTITIONING FOR MOTION PLANNING
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申请号: US15521544申请日: 2015-10-28
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公开(公告)号: US20170308102A1公开(公告)日: 2017-10-26
- 发明人: Harshad S. Sane , Jason C. Derenick , Brendan J. Englot , Thomas A. Frewen
- 申请人: Sikorsky Aircraft Corporation
- 申请人地址: US CT Stratford
- 专利权人: Sikorsky Aircraft Corporation
- 当前专利权人: Sikorsky Aircraft Corporation
- 当前专利权人地址: US CT Stratford
- 国际申请: PCT/US2015/057696 WO 20151028
- 主分类号: G05D1/10
- IPC分类号: G05D1/10 ; G01C21/34
摘要:
An aspect includes space partitioning for vehicle motion planning. A plurality of obstacle data is analyzed to determine a plurality of obstacle locations in a configuration space of a vehicle. A partitioning of the configuration space is performed to compute a skeletal partition representing a plurality of obstacle boundaries based on the obstacle locations. The skeletal partition is used to preferentially place a plurality of samples by a sampling-based motion planner. At least one obstacle-free path is output by the sampling-based motion planner based on the samples.
公开/授权文献
- US10254768B2 Space partitioning for motion planning 公开/授权日:2019-04-09