Method for determining collision-free paths of e.g. car, in predetermined environment, involves classifying first set of candidate nodes or second set of candidate nodes, and classifying path nodes or open nodes or closed nodes

摘要

The method involves determining a first set of paths (17) depending on a position of a predetermined output node (15) in an occupancy map (10), where the set of paths terminates a first set of candidate nodes (20). A second set of paths is determined depending on a position of chance nodes randomly selected from regions of the occupancy map. The first set of candidate nodes or a second set of candidate nodes is classified. Path nodes (38) or open nodes (36) or closed nodes are classified. Independent claims are also included for the following: (1) a device for determining collision-free paths for a moving object in a predetermined environment (2) a system for determining collision-free paths for a moving object in a predetermined environment.