| 摘要 |
A method and apparatus for determining a route for a vehicle (6), the method comprising: measuring a position of the vehicle (6); providing a specification of a region (12) into which the vehicle (6) is to be moved; and, using the measurements and specification, determining the vehicle route. The route determination process comprises constructing a graph (34) within a state space (X) of the vehicle (6), identifying, within the graph (34), a path for the vehicle (6), performing a path shortening algorithm on the identified path, and, using the shortened path, determining the vehicle route. The path shortening algorithm comprises: selecting two vertices along the path that are separated by at least two edges; connecting the two selected vertices with an additional edge; and, depending on certain cost values, removing the edges and vertices by which the selected vertices are connected, and including, in the path, the additional edge. |
