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公开(公告)号：US20150356875A1
公开(公告)日：2015-12-10
申请号：US14728660
申请日：2015-06-02
IPC分类号： G08G5/00
CPC分类号： G08G5/0047 , G01C21/20 , G08G5/0034 , G08G5/0086 , G08G5/0091
摘要： A method of route planning for a vehicle proceeding from a current location to a destination in a planning space is provided. The method includes generating a destination-rooted tree from global information that provides cost-to-go routing to the destination from multiple locations in the planning space, generating a vehicle-rooted tree using local information from the current location out to a sensing horizon and determining a local destination at the sensing horizon. The local destination corresponds to minimal cost-to-go routing obtained from the destination-rooted tree.
摘要翻译： 提供了一种在规划空间中从当前位置进行到目的地的车辆的路线规划方法。 该方法包括从从规划空间中的多个位置向目的地提供成本转移路由的全球信息生成目的地根树，使用从当前位置到感测地平线的本地信息生成车根树，以及 确定感测地平线上的本地目的地。 本地目的地对应于从目的地根树获得的最小成本转移路由。
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公开(公告)号：US10319244B2
公开(公告)日：2019-06-11
申请号：US15502446
申请日：2015-09-14
摘要： A method for path planning for a plurality of vehicles in a mission space includes determining, with a processor, information indicative of a first local graph of a first vehicle; receiving, with the processor over a communication link, information indicative of a second local graph from a second vehicle; assembling, with the processor, information indicative of a global graph in response to the receiving of the second local graph; wherein the global graph includes information assembled from the first local graph and the second local graph; and wherein the global graph indicates connectivity of objectives for each vehicle of the plurality of vehicles in the mission space.
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公开(公告)号：US20190002122A1
公开(公告)日：2019-01-03
申请号：US15519999
申请日：2015-10-16
发明人： Xuchu Ding , Jason C. Derenick , Brendan J. Englot , Igor Cherepinsky , Harshad S. Sane , Christopher Stathis
摘要： According to an aspect of the invention, a method of optimal safe landing area determination for an aircraft includes accessing a probabilistic safe landing area map that includes a plurality of probabilistic indicators of safe landing areas for the aircraft. A processing subsystem that includes one or more processing resources generates a list of candidate safe landing areas based on the probabilistic safe landing area map and one or more constraints. At least two of the candidate safe landing areas are provided to a path planner. The list of candidate safe landing areas is ranked based on results from the path planner indicating an estimated cost to reach each of the candidate safe landing areas. Based on the ranking, an indicator of an optimal safe landing area is output as a desired landing location for the aircraft.
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公开(公告)号：US20170308102A1
公开(公告)日：2017-10-26
申请号：US15521544
申请日：2015-10-28
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.
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公开(公告)号：US20170263130A1
公开(公告)日：2017-09-14
申请号：US15502446
申请日：2015-09-14
CPC分类号： G08G5/006 , B64C27/06 , B64C27/82 , B64C29/0025 , B64C39/024 , B64C2201/024 , B64C2201/145 , B64D45/08 , B64D47/08 , G08G5/0008 , G08G5/0013 , G08G5/0021 , G08G5/0034 , G08G5/0039 , G08G5/0078 , G08G5/0086 , G08G5/045
摘要： A method for path planning for a plurality of vehicles in a mission space includes determining, with a processor, information indicative of a first local graph of a first vehicle; receiving, with the processor over a communication link, information indicative of a second local graph from a second vehicle; assembling, with the processor, information indicative of a global graph in response to the receiving of the second local graph; wherein the global graph includes information assembled from the first local graph and the second local graph; and wherein the global graph indicates connectivity of objectives for each vehicle of the plurality of vehicles in the mission space.
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公开(公告)号：US10676213B2
公开(公告)日：2020-06-09
申请号：US15519999
申请日：2015-10-16
发明人： Xuchu Ding , Jason C. Derenick , Brendan J. Englot , Igor Cherepinsky , Harshad S. Sane , Christopher Stathis
摘要： According to an aspect of the invention, a method of optimal safe landing area determination for an aircraft includes accessing a probabilistic safe landing area map that includes a plurality of probabilistic indicators of safe landing areas for the aircraft. A processing subsystem that includes one or more processing resources generates a list of candidate safe landing areas based on the probabilistic safe landing area map and one or more constraints. At least two of the candidate safe landing areas are provided to a path planner. The list of candidate safe landing areas is ranked based on results from the path planner indicating an estimated cost to reach each of the candidate safe landing areas. Based on the ranking, an indicator of an optimal safe landing area is output as a desired landing location for the aircraft.
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公开(公告)号：US10254768B2
公开(公告)日：2019-04-09
申请号：US15521544
申请日：2015-10-28
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.
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公开(公告)号：US09620022B2
公开(公告)日：2017-04-11
申请号：US14728660
申请日：2015-06-02
CPC分类号： G08G5/0047 , G01C21/20 , G08G5/0034 , G08G5/0086 , G08G5/0091
摘要： A method of route planning for a vehicle proceeding from a current location to a destination in a planning space is provided. The method includes generating a destination-rooted tree from global information that provides cost-to-go routing to the destination from multiple locations in the planning space, generating a vehicle-rooted tree using local information from the current location out to a sensing horizon and determining a local destination at the sensing horizon. The local destination corresponds to minimal cost-to-go routing obtained from the destination-rooted tree.
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