NAVIGATION SYSTEM WITH OBSTACLE AVOIDANCE

摘要

PROBLEM TO BE SOLVED: To provide a navigation system of a vehicle running through an area having a plurality of objects. SOLUTION: A Voronoi decomposition on the area is first constructed having a number of edges surrounding the obstacles. A Voronoi field having a value between zero and an upper limit is calculated for geometric locations within the area such that the field reaches a maximum value within obstacles and a minimum value on the edges. A transversal cost between adjacent locations in the area from the position of the vehicle and toward a destination is calculated in which the transversal cost increases proportionately with the value of the field. A route is then planned from the position of the vehicle to the destination which minimizes the transversal cost. COPYRIGHT: (C)2009,JPO&INPIT