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).
KINEMATIC MOTION PLANNING WITH REGIONAL PLANNING CONSTRAINTS
PLANUNG VON KINEMATISCHER BEWEGUNG MIT REGIONALEN PLANUNGSBESCHRÄNKUNGEN
PLANIFICATION DE MOUVEMENT CINÉMATIQUE AVEC CONTRAINTES DE PLANIFICATION RÉGIONALE
2020-03-11
Patent
Electronic Resource
English
Kinematic motion planning with regional planning constraints
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