Method for generating offset paths for ground vehicles

摘要

A computer-implemented method for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path is provided. The at least one segment of the base path is represented by a stored set of data points. The computer-implemented method includes comparing the at least one segment of the base path to a curvature constraint to determine if the at least one segment of the base path violates the curvature constraint. The curvature constraint is based on a characteristic of the vehicle and a desired offset distance from the at least one segment of the base path. The characteristic reflects the vehicle's ability to traverse at least one segment of a path. The method further includes modifying the at least one segment of the base path to satisfy the curvature constraint, if the at least one segment of the base path violates the curvature constraint. At least one segment of an offset path for the vehicle to follow is generated based upon the desired offset distance from the modified at least one segment of the base path.

主权项

1. A computer-implemented method for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path, wherein the at least one segment of the base path is represented by a stored set of data points, the computer-implemented method comprising:
determining a curvature of the at least one segment of the base path at each of the stored set of data points; comparing the determined curvature at each of the stored set of data points with a curvature constraint to identify a first subset of points from the stored set of data points that violate the curvature constraint and to identify a second subset of points from the stored set of data points that do not violate the curvature constraint, wherein the curvature constraint is based on a characteristic of the vehicle and a desired offset distance for at least one segment of an offset path from the at least one segment of the base path, and the characteristic reflects the vehicle's ability to traverse at least one segment of a path; modifying the first subset of points to satisfy the curvature constraint; and generating the at least one segment of the offset path for the vehicle to follow by offsetting the modified first subset of points and the second subset of points by a distance corresponding to the desired offset distance.