公开(公告)号：US12153444B2

公开(公告)日：2024-11-26

申请号：US17178927

申请日：2021-02-18

Applicant: Lockheed Martin Corporation

Inventor： Navid Dadkhah Tehrani ,  Brian Henri LeFloch ,  Brian Scott MacAllister, Jr. ,  Suraj Unnikrishnan ,  Igor Cherepinksy

IPC: G05D1/00 ,  G01C21/20 ,  G08G5/00 ,  G08G5/04 ,  B64C27/06

Abstract: A technique relates to route planning. Points associated with a start location and a destination location are received. It is determined whether the points comprise one or more hard points, one or more soft points, or both. At least one obstruction to avoid is determined. A route is autonomously generated comprising the points and segments associated with the points, the segments comprising rhumb lines, great-circle arcs, or both. Responsive to the points comprising the one or more soft points, the at least one obstruction is avoided by permitting a distance associated with the one or more soft points to be reached and adding at least one free waypoint. Responsive to the points comprising the one or more hard points, the at least one obstruction is avoided by requiring the one or more hard points to be reached and adding the at least one free waypoint.

公开(公告)号：US11592843B2

公开(公告)日：2023-02-28

申请号：US16843011

申请日：2020-04-08

Applicant: Lockheed Martin Corporation

Inventor： Navid Dadkhah Tehrani ,  Brian Henri Le Floch ,  Ashish Bhatnagar ,  Suraj Unnikrishnan ,  Brian Scott MacAllister ,  Igor Cherepinsky

IPC: G05D1/10 ,  B64C39/02 ,  B64C27/06

Abstract: A technique relates to autonomous obstacle avoidance. A vehicle is controlled on a route to a destination, the route being a three-dimensional route. An obstruction is determined on the global route. A local route including alternate points to avoid the obstruction is autonomously determined. The local route is autonomously converged back to the global route in response to avoiding the obstruction.

公开(公告)号：US20220269290A1

公开(公告)日：2022-08-25

申请号：US17178927

申请日：2021-02-18

Applicant: Lockheed Martin Corporation

Inventor： Navid Dadkhah Tehrani ,  Brian Henri LeFloch ,  Brian Scott MacAllister, JR. ,  Suraj Unnikrishnan ,  Igor Cherepinksy

IPC: G05D1/10 ,  G05D1/00 ,  G01C21/20 ,  G08G5/00 ,  G08G5/04

Abstract: A technique relates to route planning. Points associated with a start location and a destination location are received. It is determined whether the points comprise one or more hard points, one or more soft points, or both. At least one obstruction to avoid is determined. A route is autonomously generated comprising the points and segments associated with the points, the segments comprising rhumb lines, great-circle arcs, or both. Responsive to the points comprising the one or more soft points, the at least one obstruction is avoided by permitting a distance associated with the one or more soft points to be reached and adding at least one free waypoint. Responsive to the points comprising the one or more hard points, the at least one obstruction is avoided by requiring the one or more hard points to be reached and adding the at least one free waypoint.

公开(公告)号：US20210318697A1

公开(公告)日：2021-10-14

申请号：US16843011

申请日：2020-04-08

Applicant: Lockheed Martin Corporation

Inventor： Navid Dadkhah Tehrani ,  Brian Henri Le Floch ,  Ashish Bhatnagar ,  Suraj Unnikrishnan ,  Brian Scott MacAllister ,  Igor Cherepinsky

IPC: G05D1/10 ,  B64C27/06 ,  B64C39/02

Abstract: A technique relates to autonomous obstacle avoidance. A vehicle is controlled on a route to a destination, the route being a three-dimensional route. An obstruction is determined on the global route. A local route including alternate points to avoid the obstruction is autonomously determined. The local route is autonomously converged back to the global route in response to avoiding the obstruction.