Autonomous mobile carrier control system and safety trajectory control method for autonomous mobile carriers

Abstract

An autonomous mobile carrier control system performs operations of: mapping 3D point cloud data to a horizontal plane to obtain 2D point cloud data; analyzing a projection distribution of the 2D point cloud data on the horizontal plane to identify static environmental objects and dynamic moving objects in the field environment; predicting a static safety-trajectory for a vehicle to move within the field environment and avoid collisions with the static environmental objects based on a position coordinates of the static environmental objects; and as the vehicle moves within the field environment, tracking a motion of dynamic moving objects in real-time and adjusting the static safety-trajectory by referring to the motion of the dynamic moving objects to obtain a dynamic safety-trajectory for controlling a movement of the vehicle within the field environment, such that the movement of the vehicle maintains at least a safe distance from the dynamic moving objects.

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