[특허]Point-to-point path planning

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G01C-021/34
출원번호	US-0042636 (2005-01-25)
발명자 / 주소	Flann,Nicholas Simon Hansen,Shane Lynn Gray,Sarah Ann
출원인 / 주소	Deere & Company
인용정보	피인용 횟수 : 52 인용 특허 : 27

초록 ▼

A path planner and a method for determining a path for a vehicle comprises defining a starting point for the vehicle. A termination point is defined. An obstacle detector detects one or more obstacles in a work area between the starting point and the termination point. A boundary zone is defined abo

A path planner and a method for determining a path for a vehicle comprises defining a starting point for the vehicle. A termination point is defined. An obstacle detector detects one or more obstacles in a work area between the starting point and the termination point. A boundary zone is defined about each corresponding obstacle. Candidate paths are identified between the starting point and the termination point. Each candidate path only intersects each boundary zone once for each corresponding obstacle. An economic cost is estimated for traversing each candidate path or a portion thereof between the starting point and the termination point. A preferential path is selected from the identified candidate paths based on the preferential path being associated with a lowest estimated economic cost.

대표청구항 ▼

The following is claimed: 1. A method for determining a path for a vehicle, the method comprising: defining a starting point for the vehicle; defining a termination point for the vehicle; detecting two or more obstacles in a work area between the starting point and the termination point; defining a

The following is claimed: 1. A method for determining a path for a vehicle, the method comprising: defining a starting point for the vehicle; defining a termination point for the vehicle; detecting two or more obstacles in a work area between the starting point and the termination point; defining an obstacle clearance zone about each corresponding obstacle; identifying candidate paths between the starting point and the termination point, each candidate path only intersecting each obstacle clearance zone a maximum number of times for each corresponding obstacle; estimating an economic cost for traversing each candidate path or a portion thereof between the starting point and the termination point; and selecting a preferential path from the identified candidate paths based on the preferential path being associated with a lowest estimated economic cost. 2. The method according to claim 1, wherein the defining of the starting point of the vehicle comprises defining the starting point and heading of the vehicle; and wherein the defining the termination point comprises defining the termination point and heading for the vehicle. 3. The method according to claim 1, wherein the identified candidate path comprises a path from the starting point to the termination point. 4. The method according to claim 1 wherein the identified candidate path comprises a path from the starting point to an outer boundary of the obstacle clearance zone about a corresponding obstacle. 5. The method according to claim 4 wherein the identified candidate path comprises a path segment that is coextensive with a portion of the outer boundary of the obstacle clearance zone. 6. The method according to claim 1 wherein the identified candidate path comprises first a path segment from the starting point to a first obstacle clearance zone about a first corresponding obstacle and a second path segment interconnected to the first path segment, the second path extending from the first obstacle clearance zone to a second obstacle clearance zone about a second corresponding obstacle. 7. The method according to claim 1 wherein the identified candidate path comprises a path segment from a first outer boundary associated with an obstacle clearance zone of a first obstacle to a second outer boundary associated with an obstacle clearance zone of a second obstacle. 8. The method according to claim 7 wherein nodes or vertices of the candidate paths are determined by forming tangential interconnections with respect to the first outer boundary and the second outer boundary. 9. The method according to claim 1 wherein the selecting comprises searching of the candidate paths or portions of candidate paths in accordance with at least one of the A* search algorithm and the bounded A* search algorithm. 10. The method according to claim 1 wherein the selecting comprises searching of the candidate paths or portions of candidate paths after first discarding candidate paths or path segments that exceed a maximum number of permitted touches with respect to at least one of the obstacle clearance zone, an outer boundary of an obstacle clearance zone, a boundary clearance zone, and an outside border shape of a work area. 11. The method according to claim 1 wherein an outer boundary of an obstacle is spaced apart from the obstacle such that the vehicle has a physical clearance between the vehicle and the obstacle if the vehicle follows a path segment that is coextensive with the outer boundary. 12. The method according to claim 1 wherein an outer boundary of the obstacle clearance zone comprises a generally elliptical or generally circular shape. 13. The method according to claim 1 wherein an outer boundary of the obstacle clearance zone comprises a generally rectangular shape to reduce computational resources. 14. The method according to claim 1 wherein the maximum number of times is one for a generally convex obstacle. 15. The method according to claim 1 wherein the maximum number of times is one plus the number of material concavities associated with an obstacle. 16. The method according to claim 1 further comprising: filtering the identified candidate paths based on at least one of a benchmark performance estimate of a generally direct linear path between the starting point and the termination point and a maximum-touches criteria, where the maximum touches criteria refers to contacting an outer boundary associated with an obstacle clearance about an obstacle less than or equal to an allotted maximum number of times. 17. The path planner according to claim 1 further comprising: filtering the identified candidate paths to exclude at least a rejected portion of the identified candidate paths from a search process if the rejected portion has at least one of a total path cost estimate, a total path duration estimate, and a total path length estimate that exceeds a corresponding path benchmark estimate, by more than a maximum threshold, associated with a generally direct linear path between the starting point and the termination point. 18. A path planner for determining a path for a vehicle, the path planner comprising: a location determining receiver for defining a starting point for the vehicle; a definer for defining a termination point for the vehicle; an obstacle detector for detecting two or more obstacles in a work area between the starting point and the termination point; an obstacle modeler for defining an obstacle clearance zone about each corresponding obstacle; an analyzer for identifying candidate paths between the starting point and the termination point, each candidate path only intersecting each obstacle clearance zone once for each corresponding obstacle; an estimator for estimating an economic cost for traversing each candidate path or a portion thereof between the starting point and the termination point; and a search engine for selecting a preferential path from the identified candidate paths based on the preferential path being associated with a lowest estimated economic cost. 19. The path planner according to claim 18, wherein the location determining receiver determines the starting point and corresponding starting heading of the vehicle; and wherein the definer defines the termination point and corresponding termination heading for the vehicle. 20. The path planner according to claim 18, wherein the analyzer identifies a candidate path comprising a path portion from the starting point to the termination point. 21. The path planner according to claim 18 wherein the analyzer identifies the candidate path comprising a path portion from the starting point to an outer boundary of the obstacle clearance zone about a corresponding obstacle. 22. The path planner according to claim 18 wherein the analyzer identifies a candidate path portion comprising a first path segment from the starting point to a first obstacle clearance zone about a first corresponding obstacle and a second path segment interconnected to the first path segment, the second path segment extending from the first obstacle clearance zone to a second obstacle clearance zone about a second corresponding obstacle. 23. The path planner according to claim 18 wherein the analyzer identifies a candidate path portion comprising a path segment from a first outer boundary associated with an obstacle clearance zone of a first obstacle to a second outer boundary associated with an obstacle clearance zone of a second obstacle. 24. The path planner according to claim 23 wherein the analyzer determines nodes or vertices of the candidate paths by forming tangential interconnections with respect to the first outer boundary and the second outer boundary. 25. The path planner according to claim 18 wherein the search engine is adapted to search the candidate paths or portions of the candidate paths in accordance with at least one of an A* search algorithm and a bounded A* search algorithm. 26. The path planner according to claim 18 further comprising a filter for discarding or excluding the candidate paths from a search process if any of the candidate paths exceeds a maximum number of permitted touches for at least one of an outer boundary, a boundary clearance zone, the obstacle clearance zone, and an outside border shape of a work area. 27. The path planner according to claim 18 further comprising a filter for discarding or excluding the candidate paths from a search process if any of the candidate paths has at least one of a total path cost estimate, a total path duration estimate, and a total path length estimate that exceeds a corresponding path benchmark estimate, by more than a maximum threshold, associated with a generally direct linear path between the starting point and the termination point. 28. The path planner according to claim 18 wherein the obstacle modeler models the obstacle clearance zone such that an outer boundary of the obstacle clearance zone is spaced apart from the obstacle to provide a physical clearance between the vehicle and the obstacle if the vehicle follows a path associated with a vertex or node on an outer boundary of the obstacle clearance zone. 29. The path planner according to claim 18 wherein the obstacle modeler models an outer boundary associated with an obstacle as at least one of a generally elliptical, generally circular, and generally rectangular.

LOADING...

이 특허에 인용된 특허 (27) 인용/피인용 타임라인 분석

Henning Pangels ; Thomas Pilarski ; Kerien Fitzpatrick ; Michael Happold ; Mark Ollis ; William Whittaker ; Anthony Stentz, Agricultural harvester with robotic control.
상세보기
Monson Robert J., Animated map display method for computer-controlled agricultural product application equipment.
상세보기
Dorst Leendert ; Trovato Karen Irene, Animation of path planning.
상세보기
Nelson Russell G., Automated lawn mower.
상세보기
Hale George H. ; Wendte Keith W., Automatic identification of field boundaries in a site-specific farming system.
상세보기
Miyamoto Yasuhiko (Omiya JPX) Nagano Toshihiro (Omiya JPX), Autonomous mowing vehicle and apparatus for detecting boundary of mowed field.
상세보기
Janzen David C. ; Alster Louis G., Computer-aided farming system and method.
상세보기
Anderson Noel W., Field navigation system.
상세보기
Anderson Noel W. (Fargo ND), Field navigation system.
상세보기
Keller Russell J. ; Petrie Robert W.,NZX ; Price Gregory R.,NZX, Form line following guidance system.
상세보기
Brandt Everett G. ; McGee Robert J. ; Rockwood Brian D., Method and apparatus for determining a path to be traversed by a mobile machine.
상세보기
Dorst, Leendert; Trovato, Karen Irene, Method and apparatus for path planning.
상세보기
Motz Darin S. ; Staub Michael D. ; Plumer Elliott E., Method and apparatus for providing autoguidance for multiple agricultural machines.
상세보기
Brandt Everett G. ; McGee Robert J. ; Rockwood Brian D., Method and apparatus for selecting a transition scheme for use in transitioning a mobile machine from a first path to a second path.
상세보기
Gray, Sarah Ann; Hansen, Shane Lynn; Flann, Nicholas Simon, Method and system for efficiently traversing an area with a work vehicle.
상세보기
Shilcrat Esther Dina, Method for generating a path in an arbitrary physical structure.
상세보기
Bauer Rudolf,DEX, Method for the orientation, route planning and control of an autonomous mobile unit.
상세보기
Jensen Delos Clark ; Carter Stephen R., Near-optimal path apparatus and method.
상세보기
Tenmoku Kenji (Osaka JPX) Inoue Takuya (Osaka JPX) Hashimoto Takeo (Osaka JPX), Optimum route determination.
상세보기
Fiegert Michael,DEX ; Helbach Jorg,DEX ; Lawitzky Gisbert,DEX, Path planning process for a mobile surface treatment unit.
상세보기
Monson Robert J., Proactive swath planning system for assisting and guiding a vehicle operator.
상세보기
Diekhans Norbert,DEX, Route planning system for agricultural work vehicles.
상세보기
Tanimoto Satoshi ; Endo Koichi ; Hayes David, Route searching method.
상세보기
Monte A. Dickson ; Noboru Noguchi JP; Qin Zhang ; John F. Reid ; Jeffrey D. Will, Sensor-fusion navigator for automated guidance of off-road vehicles.
상세보기
Gudat Adam J. (Edelstein IL) Shin Dong Hun (Pittsburgh PA) Whittaker William L. (Pittsburgh PA) Kleimenhagen Karl W. (Peoria IL) Singh Sanjiv J. (Pittsburgh PA) Christensen Dana A. (Peoria IL) Kemner, System and method for generating paths in an autonomous vehicle.
상세보기
Motz Darin S. ; Staub Michael D., System and method for planning the operations of an agricultural machine in a field.
상세보기
Monte Andre Dickson ; Bingcheng Ni ; Shufeng Han ; John F. Reid, Trajectory path planner for a vision guidance system.
상세보기

이 특허를 인용한 특허 (52) 인용/피인용 타임라인 분석

Lee, Jin-han; Kwon, Min-Hyuk, Apparatus and method for planning path of robot, and the recording media storing the program for performing the method.
상세보기
Oobayashi, Souichi; Yabushita, Hidenori; Ogura, Takashi, Autonomous moving body and control method thereof.
상세보기
Yabushita, Hidenori; Mima, Kazuhiro; Asahara, Yoshiaki, Autonomous moving body, its control method, and control system.
상세보기
Abhyanker, Raj, Autonomous neighborhood vehicle commerce network and community.
상세보기
Zhang, Wende; Wu, Qi; Chen, Tsuhan, Clear path detection with patch smoothing approach.
상세보기
Abhyanker, Raj, Coordination of aerial vehicles through a central server.
상세보기
Liu, Dongxia; Lei, Hairong; Abhyanker, Raj, Distributed communication of independent autonomous vehicles to provide redundancy and performance.
상세보기
Abhyanker, Raj V., Driverless vehicle commerce network and community.
상세보기
Anderson, Noel Wayne, Enhanced visual landmark for localization.
상세보기
Abhyanker, Raj, Government structures and neighborhood leads in a geo-spatial environment.
상세보기
Kalai, Iljya; Bellido, Manuel; Strandzhev, Ivaylo, Graph based routing for open areas.
상세보기
Kalai, Iljya; Bellido, Manuel; Strandzhev, Ivaylo, Graph based routing for open areas.
상세보기
Abhyanker, Raj Vasant, Hot news neighborhood banter in a geo-spatial social network.
상세보기
Huseth, Steve; Chen, Henry; Plocher, Tom, Location enhancement system and method based on topology constraints.
상세보기
Kondekar, Ritesh, Method and system for determining a planned path of a vehicle.
상세보기
Senneff, Aaron Matthew; Leiran, Brandon G.; Roszhart, Timothy J., Method and system for generating end turns.
상세보기
Senneff, Aaron Matthew; Leiran, Brandon G.; Reigeluth, Kevin A., Method and system for managing the turning of a vehicle.
상세보기
Senneff, Aaron Matthew; Leiran, Brandon G.; Reigeluth, Kevin A., Method and system for managing the turning of a vehicle.
상세보기
Stout, Michael S.; Brisson, Gabriel Francis; Di Bernardo, Enrico; Pirjanian, Paolo; Goel, Dhiraj; Case, James Philip; Dooley, Michael, Methods and systems for complete coverage of a surface by an autonomous robot.
상세보기
Stout, Michael S.; Brisson, Gabriel Francis; Di Bernardo, Enrico; Pirjanian, Paolo; Goel, Dhiraj; Case, James Philip; Dooley, Michael, Methods and systems for complete coverage of a surface by an autonomous robot.
상세보기
Stout, Michael S.; Brisson, Gabriel Francis; Di Bernardo, Enrico; Pirjanian, Paolo; Goel, Dhiraj; Case, James Philip; Dooley, Michael, Methods and systems for complete coverage of a surface by an autonomous robot.
상세보기
Schilling, Heiko; Gawrilow, Ewgenij; Hilger, Moritz; Profous, Andreas; Werber, Jürgen; Pelle, Dominique, Navigation devices.
상세보기
Schilling, Heiko; Gawrilow, Ewgenij; Hilger, Moritz; Profous, Andreas; Werber, Jürgen; Pelle, Dominique, Navigation devices.
상세보기
Schilling, Heiko; Gawrilow, Ewgenij; Hilger, Moritz; Profous, Andreas; Werber, Jürgen; Serbanescu, Alexandru, Navigation devices and methods carried out thereon.
상세보기
Schilling, Heiko; Gawrilow, Ewgenij; Hilger, Moritz; Profous, Andreas; Werber, Jürgen; Serbanescu, Alexandru, Navigation devices and methods carried out thereon.
상세보기
Schilling, Heiko; Gawrilow, Ewgenij; Hilger, Moritz; Profous, Andreas; Werber, Jürgen; Tertoolen, Simone, Navigation devices and methods carried out thereon.
상세보기
Abhyanker, Arthi, Network enabled gardening with a remotely controllable positioning extension.
상세보기
Gyorfi,Julius S.; Gamota,Daniel R.; Mok,Swee M.; Szczech,John B.; Toloo,Mansour; Zhang,Jie, Path determination facilitation method.
상세보기
Yabushita, Hidenori; Mima, Kazuhiro; Asahara, Yoshiaki, Path planning device and method, cost evaluation device, and moving body.
상세보기
Bertrand, Blaise; Colin, Youenn; Patron, Anthony; Pho, Vinh, Quadcopter with a printable payload extension system and method.
상세보기
Ariyur, Kartik B.; Johnson, Daniel P.; Subramanian, Dharmashankar, Real time planning and scheduling for a team of unmanned vehicles.
상세보기
Das, Colin E.; Johnson, David A., Robotic mower navigation system.
상세보기
Kim, Hyoun Jin; Yoon, Yongsoon, Steering method for vehicle and apparatus thereof.
상세보기
Mian, Zahid F.; Berard, Brian M.; Spoor, Ryk E., Straight line path planning.
상세보기
Anderson, Noel Wayne, System and method for area coverage using sector decomposition.
상세보기
Anderson, Noel Wayne, System and method for area coverage using sector decomposition.
상세보기
Anderson, Noel Wayne, System and method for area coverage using sector decomposition.
상세보기
Dollinger, Tyson J.; Ray, Brian R.; Rusciolelli, Adam R., System and method for calibrating alignment of agricultural vehicles.
상세보기
Senneff, Aaron Matthew; Roszhart, Timothy J., System and method for controlling a vehicle in response to a particular boundary.
상세보기
Dollinger, Tyson J.; Ray, Brian R.; Rusciolelli, Adam R.; Torrie, Mitchel R.; Lewis, Paul; Hornberger, Michael G.; Morwood, Daniel J.; Berkemeier, Matthew D., System and method for coordinated control of agricultural vehicles.
상세보기
Sachs, James L.; Roszhart, Timothy J.; Schleicher, Tyler; Beck, Andy Dwayne; Bezdek, Mikel A., System and method for generation of an inner boundary of a work area.
상세보기
Wei, Mo; Taylor, Michael; Edara, Thandava K.; Becicka, Troy K.; Edwards, Kyle, System and method for setting an end location of a path.
상세보기
Thomson, Jacob Jay; Wong, Lisa; Fanselow, Timothy William, Systems, methods, and industrial vehicles for determining the visibility of features.
상세보기
Abhyanker, Raj, Train based community.
상세보기
Mathews, George Morgan; Deittert, Markus; Richards, Arthur George, Trajectory planning.
상세보기
Mathews, George Morgan; Deittert, Markus; Richards, Arthur George, Trajectory planning.
상세보기
Mathews, George Morgan; Deittert, Markus; Richards, Arthur George, Trajectory planning.
상세보기
Mathews, George Morgan; Deittert, Markus; Richards, Arthur George, Trajectory planning.
상세보기
Sung, Junyong; Roh, Myung Chan; Byun, Jaemin; Kim, Sung Hoon, Unmanned transport apparatus and operating method thereof.
상세보기
Van Den Berg, Karel, Unmanned vehicle for displacing manure.
상세보기
Abhyanker, Raj, Variable bus stops across a bus route in a regional transportation network.
상세보기
Anderson, Noel Wayne; Hendrickson, Larry Lee, Vehicle soil pressure management based on topography.
상세보기

활용도 분석정보

상세보기

다운로드

내보내기

활용도 Top5 특허

해당 특허가 속한 카테고리에서 활용도가 높은 상위 5개 콘텐츠를 보여줍니다.
더보기 버튼을 클릭하시면 더 많은 관련자료를 살펴볼 수 있습니다.

IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

연합인증

[미국특허] Point-to-point path planning 원문보기

초록 ▼

대표청구항 ▼

연구과제 타임라인

이 특허에 인용된 특허 (27) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (52) 인용/피인용 타임라인 분석

활용도 분석정보

활용도 Top5 특허

관련 콘텐츠

특허 원문 보기

IPC 상위 출원인

AI-Helper ※ AI-Helper는 오픈소스 모델을 사용합니다.

선택된 텍스트

연합인증

[미국특허] Point-to-point path planning 원문보기

초록 ▼

대표청구항 ▼

연구과제 타임라인

전체(0) 논문(0) 특허(0) 보고서(0)

전체(0) 논문(0) 특허(0) 보고서(0)

이 특허에 인용된 특허 (27) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (52) 인용/피인용 타임라인 분석

활용도 분석정보

활용도 Top5 특허 더보기

관련 콘텐츠

특허 원문 보기

IPC 상위 출원인

AI-Helper ※ AI-Helper는 오픈소스 모델을 사용합니다.

선택된 텍스트

활용도 Top5 특허