TRAJECTORY PLANNER FOR A VEHICLE The present disclosure is directed to systems and methods for trajectory and route planning including obstacle detection and avoidance for an aerial vehicle (200). For example, an aerial vehicle's flight control system (206, 222) may include a trajectory planner that may use short segments calculated using an iterative Dubins path to find a first path between a start point (502) and an end point (506) that does not avoid obstacles. Then the trajectory planner may use a rapidly exploring random tree algorithm that uses points along the first path as seed points to find a trajectory or route between the start point (502) and end point (506) that avoids known or detected obstacles. 206 200a Figure 2a 200b Figure 2b Lfn I Lf *C If) a) bbO Lim Li, Ltw C)) LLi L4-
Trajectory planner for a vehicle
2020-04-30
Patent
Elektronische Ressource
Englisch