According to various aspects, a method of generating a collision free path of travel may include defining a global search area encompassing at least a global start position and a global target position; and determining a set of collision free trajectories by iteration, the set of collision free trajectories connecting the global start position to the global target position via one or more local target positions, each iteration including: determining a local search area within the global search area; determining, from the global obstacle map, a local obstacle map associated with the local search area; defining a local start position and one or more local target positions within the local search area; and calculating, in the local search area, a collision free trajectory from the local start position to the one or more local target positions considering the local obstacle map.
Method of generating a collision free path of travel and computing system
2022-12-20
Patent
Elektronische Ressource
Englisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64C AEROPLANES , Flugzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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