A method of kinematic motion planning includes accessing a list of a plurality of nodes (108) defining a plurality of potential kinematic path locations between a starting position (110) and an ending position (118) of a vehicle (200). A plurality of constraint sets (114) is determined that apply one or more vehicle motion constraints based on a plurality of spatial regions (118) defined between the starting position (110) and the ending position (118). The constraint sets (114) are applied in determining a plurality of connections (116) between the nodes (108) to form a kinematic motion path (120) based on locations of the nodes (108) relative to the spatial regions (118). The kinematic motion path (120) is output to a dynamic path planner (104) to complete creation of a motion path plan (122) for the vehicle (200).


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    Title :

    KINEMATIC MOTION PLANNING WITH REGIONAL PLANNING CONSTRAINTS


    Additional title:

    PLANUNG VON KINEMATISCHER BEWEGUNG MIT REGIONALEN PLANUNGSBESCHRÄNKUNGEN
    PLANIFICATION DE MOUVEMENT CINÉMATIQUE AVEC CONTRAINTES DE PLANIFICATION RÉGIONALE


    Contributors:

    Publication date :

    2020-03-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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