Vehicle routing and path planning

a technology for arranging and planning roads, applied in surveying and navigation, instruments, navigation instruments, etc., can solve the problems of reducing utility, less suited to reasoning about goals and sub-goals, and yet to develop automated plan generation strategies for achieving higher-level mission goals. , to achieve the effect of sufficient flexibility

a technology for arranging and planning roads, applied in surveying and navigation, instruments, navigation instruments, etc., can solve the problems of reducing utility, less suited to reasoning about goals and sub-goals, and yet to develop automated plan generation strategies for achieving higher-level mission goals. , to achieve the effect of sufficient flexibility

US20050216182A1Inactive Publication Date: 2005-09-29BBN TECHNOLOGIES CORP
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  • Vehicle routing and path planning
  • Vehicle routing and path planning
  • Vehicle routing and path planning

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0031] To provide an overall understanding, certain illustrative practices and embodiments will now be described, including a system and method for determining a path having an ordered set of waypoints to be visited by a mobile agent to accomplish a mission. In a typical embodiment, the mobile agent includes a vehicle, which may be manned or unmanned. For example, and without limitation, the vehicle may include a sea, ground, air, or space vehicle, or an amphibious vehicle capable of movement in, and across a boundary of, two or more terrain types (e.g., a sea-ground amphibious vehicle, an amphibious craft capable of traveling in and beyond a planet's atmosphere, etc.). The sea vehicle may be capable of movement on an aquatic surface region, subsurface region, or both. Analogously, a ground vehicle may be capable of movement underground, on a ground surface, or both.

[0032] In an alternative embodiment, the mobile agent includes a human (e.g., a soldier, a rescue worker, or another ...

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Abstract

A method of determining a path having an ordered set of waypoints to be visited by a mobile agent to accomplish a mission includes: producing candidate paths using a multi-objective optimization algorithm, subject to a path production heuristic; selecting a path from the candidate paths, subject to a path selection heuristic; instructing the mobile agent to move according to the selected path; modifying a maintained subset of the candidate paths to produce a new candidate path using the algorithm and subject to the path production heuristic; designating either the currently-selected path or the new candidate path as the newly-selected path, subject to the path selection heuristic; and instructing the mobile agent to move according to the newly-selected path. The method may further include iterating production of new candidate paths, either randomly or based on modifications of previous candidate paths, to continually update an operation plan for the mobile agent.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS [0001] This application incorporates by reference in entirety, and claims priority to and benefit of, U.S. Provisional Patent Application No. 60 / 555,778, filed on 24 Mar. 2004.BACKGROUND [0002] Technologies for the control of unmanned ground vehicles (UGVs) attempting to perform local path navigation while traversing unknown, off-road terrains permit simple longer-range path planning, such as navigation between human-specified waypoints. However, these technologies have yet to develop automated plan generation strategies toward achieving higher-level mission goals (e.g., reconnaissance, surveillance, and target acquisition) in light of changing environmental conditions, evolving mission requirements, and a desire or need to coordinate movement of multiple vehicles. [0003] Approaches that have been used to address path planning and routing have included traditional artificial intelligence (Al) algorithms. For example, classical planning, hierar...

Claims

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Application Information

Patent Timeline
29 Sep 2005
Publication
US20050216182A1
IPC
G01C21/20; G01C21/26
CPC
G01C21/20
Inventors
HUSSAIN, TALIB; ESTRADA, RICHARD