Invention Grant
US08392117B2 Using topological structure for path planning in semi-structured environments
有权
在半结构化环境中使用拓扑结构进行路径规划
- Patent Title: Using topological structure for path planning in semi-structured environments
- Patent Title (中): 在半结构化环境中使用拓扑结构进行路径规划
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Application No.: US12471079Application Date: 2009-05-22
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Publication No.: US08392117B2Publication Date: 2013-03-05
- Inventor: Dmitri A. Dolgov , Sebastian Thrun
- Applicant: Dmitri A. Dolgov , Sebastian Thrun
- Applicant Address: US KY Erlanger
- Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
- Current Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
- Current Assignee Address: US KY Erlanger
- Agency: Oblon, Spivak, McClelland, Maier & Neustadt, L.L.P.
- Main IPC: G01C21/00
- IPC: G01C21/00 ; G01C21/34
Abstract:
A method of creating a lane network of a semi-structured environment for a vehicle, assigning a corresponding cost function to each of a plurality of coordinates of the semi-structured environment using the lane network and a state of the vehicle, the state of the vehicle corresponding to a coordinate location of the vehicle and an angular orientation of the vehicle, and determining an obstacle-free path on the semi-structured environment using the cost function of each of the plurality of coordinates.
Public/Granted literature
- US20100299013A1 USING TOPOLOGICAL STRUCTURE FOR PATH PLANNING IN SEMI-STRUCTURED ENVIRONMENTS Public/Granted day:2010-11-25
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