|국가/구분||United States(US) Patent 등록|
|미국특허분류(USC)||701/202 ; 701/210 ; 701/122|
|발명자 / 주소|
|출원인 / 주소|
|대리인 / 주소||
|인용정보||피인용 횟수 : 32 인용 특허 : 9|
A route planning algorithm for a vehicle takes into account the aspect angle which the vehicle presents to threats in the environment. A flag is set in each map grid cell for which intervisibility with a threat exists. For each cell in which the flag is set, an aspect angle pointer points to a mathematical function which represents the cost value function attributable to the type of vehicle, the type of threat, and the aspect angle of the path segment. A determination is made as to whether an auxiliary function representing the probability of the threat ...
[ What is claimed is:] [1.] A computer method for determining a vehicle path toward a goal location, said method comprising the steps of:precomputing a quantized data representation of the environment, including an array of cells or elements defining a coordinate system, said quantized data representation including information relating the terrain, the location of said vehicle in said environment, probable locations of threats, and probable characteristics of said threats, said quantized data representation also including, for each cell or element of sai...