A planning module for a water surface vehicle can determine a vehicle trajectory that avoids one or more moving obstacles, such as civilian marine vessels, by performing a lattice-based heuristic search of a state space for the surface vehicle and selecting control action primitives from a predetermined set of control action primitives based on the search. The planning module can separate a travel space into a plurality of regions and can independently scale the control action primitives in each region based on the moving obstacles therein. The heuristic search includes evaluating a cost function at each state of the state space. The cost function can be based on at least predicted movement of the obstacles responsive to respective maneuvers performed by the surface vehicle at each node of the search.
Surface vehicle trajectory planning systems, devices, and methods
2018-07-10
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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