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.
AIRCRAFT MOTION PLANNING METHOD
2015-12-10
Patent
Electronic Resource
English
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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