公开(公告)号：US20140207367A1

公开(公告)日：2014-07-24

申请号：US14154063

申请日：2014-01-13

Applicant: DASSAULT AVIATION

Inventor： Jean-Michel PFLIMLIN ,  Gildas DAUPHIN

IPC: G01C21/00

CPC classification number: G01C21/00 ,  G01C21/005 ,  G05D1/0055 ,  G05D1/101 ,  G08G5/0039

Abstract: A Method for defining a fall back route comprising of way points, for a mobile machine, in a 3D zone (ZNd) of displacement having convex zones (Zni, i=1 to 7) each describing a polygon in any plane perpendicular to a Z axis over a considered region (Hj, j=1 to 6) of a Z axis, according to which: set of beacons points (PBk, k=1 to 7) is defined, such that the edges of the Voronoi diagram associated with the said set of beacon points separate therebetween the polygons described by the convex zones in a plane perpendicular to the Z axis over the said region.

Abstract translation: 一种用于定义回落路线的方法，其包括用于移动机器的具有凸区域（Zni，i = 1至7）的位移的3D区域（ZNd）中的路点，每个区域描述在垂直于Z的任何平面中的多边形 轴定位在Z轴的考虑区域（Hj，j = 1至6）上，根据该坐标轴定义信标点集合（PBk，k = 1至7），使得与...相关联的Voronoi图的边缘 所述一组信标点在两者之间分开，所述多边形在与所述区域上的Z轴垂直的平面中由凸区描述。