公开(公告)号：US10901425B2

公开(公告)日：2021-01-26

申请号：US16205572

申请日：2018-11-30

Applicant: Honda Motor Co., Ltd.

Inventor： Peter Trautman ,  Soshi Iba ,  Shih-Yun Lo ,  Katsu Yamane ,  Chao Cao

IPC: G05D1/02 ,  G01C21/36 ,  H04W4/40 ,  G06T3/00

Abstract: Embodiments, systems, and methods for navigational planning of a mobile programmable agent are provided. In some embodiments, the navigational planning may include identifying a plurality of dynamic objects in a physical environment having an origin and a destination. The physical environment is divided into a plurality of plane figures. The location of a centroid of each plane figure can then be calculated. A network of segments is formed from the origin to the destination intersecting the centroids. At least one channel is determined from the origin to the destination using a set of segments. A set of gates is identified along the at least one channel. The state of the gates is selectively determined based on movement of the dynamic objects. A pathway can then be identified within the channel for the mobile programmable agent to traverse from the origin to the destination based on the state of the gates.

公开(公告)号：US20200174480A1

公开(公告)日：2020-06-04

申请号：US16205572

申请日：2018-11-30

Applicant: Honda Motor Co., Ltd.

Inventor： Peter Trautman ,  Soshi Iba ,  Shih-Yun Lo ,  Katsu Yamane ,  Chao Cao

IPC: G05D1/02 ,  G01C21/36 ,  G06T3/00 ,  H04W4/40

Abstract: Embodiments, systems, and methods for navigational planning of a mobile programmable agent are provided. In some embodiments, the navigational planning may include identifying a plurality of dynamic objects in a physical environment having an origin and a destination. The physical environment is divided into a plurality of plane figures. The location of a centroid of each plane figure can then be calculated. A network of segments is formed from the origin to the destination intersecting the centroids. At least one channel is determined from the origin to the destination using a set of segments. A set of gates is identified along the at least one channel. The state of the gates is selectively determined based on movement of the dynamic objects. A pathway can then be identified within the channel for the mobile programmable agent to traverse from the origin to the destination based on the state of the gates.