Straight line path planning

摘要

A solution for navigating a vehicle is provided. The vehicle is navigated from a start location to a target location using a set of linear paths. A current linear path is identified between a current location of the vehicle and the target location. At least a portion of the current linear path is evaluated for a presence of an obstacle. In response to no obstacle being present along the current linear path, the vehicle is instructed to travel along the current linear path to the target location. In response to an obstacle being present, the vehicle is instructed to travel along a different linear path from the current location to an intermediate location, which is selected based on an extent of the obstacle and the current linear path. The process can be repeated until the vehicle arrives at the target location.

主权项

1. A method comprising:
a computer system automatically navigating a vehicle from a current location to a target location, wherein the navigating includes:
selecting a set of linear paths for the vehicle to travel between the current location and the target location, the selecting including, for each linear path in the set of linear paths:
identifying a current linear path between the current location and the target location;evaluating a set of cells along the current linear path for a presence of an obstacle;instructing the vehicle to travel along the current linear path in response to evaluating all cells between the current location and the target location along the current linear path as not including an obstacle; andin response to evaluating a cell in the set of cells as including an obstacle:
determining a center of mass corresponding to an extent of the obstacle;identifying a set of potential locations based on the center of mass, a line through the center of mass and perpendicular to the current linear path, and the extent of the obstacle;selecting a potential location in the set of potential locations as the intermediate location based on the extent of the obstacle and the current linear path; andinstructing the vehicle to travel along a distinct linear path from the current location to the intermediate location.