Path planning may be performed under non-holonomic constraints based at least on discretizing and selectively analyzing a solution space using a graph that includes vertices corresponding to machine configurations in a configuration space, along with associated maneuver types used by the machine to traverse these configurations. The graph may include transition edges associating costs with machine transitions between maneuver types and maneuvers. One or more of the vertices may correspond to a transition state between maneuver types. In some examples, a maneuver type may be used as a transition state between maneuver types to reduce the vertices and edges of the graph. The graph may incorporate vertices and edges representing optimal maneuver types for traversing the configuration space, including longitudinally extremal and/or laterally extremal maneuvers based on machine models.
GRAPHS FOR NON-HOLONOMIC MOTION PLANNING FOR AUTONOMOUS SYSTEMS AND APPLICATIONS
2024-12-05
Patent
Electronic Resource
English
IPC: | 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 |
NON-HOLONOMIC MOTION PLANNING USING TRANSITION STATE VOLUMES FOR AUTONOMOUS SYSTEMS AND APPLICATIONS
European Patent Office | 2024
|European Patent Office | 2024
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