System and method for area coverage using sector decomposition

摘要

The different illustrative embodiments provide a method for generating an area coverage path plan using sector decomposition. A starting point is identified on a worksite map having a number of landmarks. A first landmark in the number of landmarks is identified. A path is generated around the first landmark until an obstacle is detected. In response to detecting the obstacle, the path is made linear to a next landmark. The path is generated around the next landmark.

主权项

1. A method for generating and executing an area coverage path plan, the method comprising:
identifying, via a processor of an autonomous vehicle, a starting point on a worksite map having a number of landmarks; identifying, via the processor, a first landmark in the number of landmarks; generating, via the processor, a path around the first landmark until an obstacle is detected, wherein the path around the first landmark is a set of concentric arcs; responsive to detecting the obstacle by the autonomous vehicle, the processor making the path linear to a vicinity of a next landmark; generating, via the processor, the path around the next landmark, wherein the path around the next landmark is another set of concentric arcs; and sending control signals to a mobility system of the autonomous vehicle to move the autonomous vehicle according to the generated path to thereby execute the area coverage path plan by the autonomous vehicle.