PATH PLANNING

摘要

Disclosed are methods and apparatus for determining a path (4) for a vehicle (2). The method comprises providing starting and final positions for the vehicle (2), and using the provided positions, determining an ordered sequence of points, thereby providing the path (4) for the vehicle (2). Performing the optimisation process comprises: minimising a distance between the final position and a last point in the sequence; for each point other than a last point in the sequence, constraining a distance between that point and the next point to be equal to a predefined distance; and, for each path point other than the first and last points, constraining an angle between a line that connects that point to the point that precedes it and a line that connects that point to the next point to be greater than or equal to a predefined angle.

主权项

1. A method for determining a path for a vehicle, the method comprising:
receiving a starting position for the vehicle; receiving a desired final position for the vehicle; and using the start position and desired final position, performing, by one or more processors, an optimisation process to determine a position for each path point in an ordered sequence of path points (P1-Pn), thereby providing the path for the vehicle defined by the ordered sequence of path points (P1-Pn); wherein performing the optimisation process comprises:
minimising a distance between the desired final position for the vehicle and a last path point (Pn) in the ordered sequence of path points (P1-Pn);for each path point other than a last path point (Pn) in the sequence of path points (P1-Pn), constraining a distance between that path point and the next path point in the ordered sequence (P1-Pn) to be equal to a predefined distance; andfor each path point other than the first path point (P1) in the ordered sequence (P1-Pn) and the last path point (Pn) in the ordered sequence (P1-Pn), constraining an angle between a line that connects that path point to the path point that precedes that path point in the ordered sequence (P1-Pn) and a line that connects that path point to the next path point in the ordered sequence (P1-Pn) to be greater than or equal to a predefined angle.