Systems and methods for path planning

Abstract

A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner. If the calculated elapsed time is one of greater than and less than a sample period, a current location of the second object in the second motion path is determined utilizing the calculated elapsed time, an expired time within a first segment of the plurality if segments between a start time of the first segment and the current sample call time is calculated, and an output command is generated from the path planner. Execution of the generated output command alters the first motion path.

Description

technical field [0001] Embodiments described herein relate generally to systems and methods for path planning, and more particularly to systems and methods for mapping the motion of objects in a motion path defined by a path planner. Background technique [0002] A conventional motion control system includes a motion controller that provides signals to a motor driver that activates the motor to rotate. As a feedback device, a pulse encoder forms a discrete pulse for each unit of motion that occurs and sends this pulse back to the motion controller. This is called a motion event. Such conventional motion control systems only accumulate motion events during a fixed sampling period. Therefore, regular motion events are only identified when they occur during a fixed sampling period. [0003] The path planner may be required to run periodically, eg, every 1 millisecond (ms), in order to accumulate motion events during one or more fixed sampling periods (eg, if the motion syste...

AI Technical Summary

Problems solved by technology

However, if, for example, GPS takes more than 1ms to compute the coordinates in the sampling period, then a path planner that is required to run every 1ms faces the dilemma of undercomputing

Thus, the path planner cannot function properly because the path planner cannot understand sampling periods that do not occur on 1 ms intervals, and the process must be aborted when the motion control system can no longer determine a suitable location

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