A method for controlling an electromechanical system is described herein. According to one embodiment, the method includes planning a nominal path for the electromechanical system using an automatic path planner, receiving information about one or more objects detected in an environment surrounding the electromechanical system, and calculating one or more occupancy sets corresponding to the one or more detected objects, and detecting whether the nominal path violates at least one of the one or more occupancy sets. In one embodiment, an occupancy set may represent a theoretical system state of the electromechanical system, which may be occupied by static and dynamic objects at a particular time. Furthermore, a corresponding control system is described.
本文描述了一种用于控制机电系统的方法。根据一个实施例,该方法包括:使用自动路径规划器为机电系统规划标称路径,接收关于在机电系统周围环境中检测到的一个或多个对象的信息,并计算对应于一个或多个检测到的对象的一个或多个占用集,以及检测标称路径是否违反一个或多个占用集中的至少一个。在一个实施例中,占用集可以表示机电系统的理论系统状态,其在特定时间可能被静态和动态对象占用。此外,描述了相应的控制系统。
Safe path planning method for electromechanical system
用于机电系统的安全路径规划方法
2022-10-04
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |