Autonomous Vehicle Site Mapping Using LIDAR Reference Objects
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Solution Overview
Problem
The initial setup for autonomous vehicles to navigate and perform tasks on operating sites is burdensome and time-consuming, especially in environments with natural or intentional obstacles, dynamic obstacles, and visibility issues due to vegetation growth.
Innovation Solution
An autonomous vehicle system that enables initial operating site setup by receiving location and orientation data, iteratively sensing recognizable objects to determine fixed reference locations, and developing an operational path plan for navigation and task performance using LIDAR technology.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual programming or deployment of navigational checkpoints devices is used for initial setup, then the autonomous vehicle can navigate the operating site, but the setup process becomes burdensome and time-consuming
Solution Approach 1:
The autonomous vehicle performs self-positioning and self-mapping by autonomously detecting recognizable objects (solar panels, posts, vegetation) and using them as reference points to establish its own location and orientation on the site, eliminating the need for manual programming or deployment of navigational checkpoints
Solution Approach 2:
The system performs preliminary detection and mapping of the operating site environment before the autonomous vehicle begins its tasks, identifying recognizable objects and establishing reference locations in advance to enable subsequent autonomous navigation
2Adaptability or versatility
If the operating site has natural or intentional obstacles and dynamic obstacles, then the site can be utilized for its intended purpose, but path development becomes complicated
Solution Approach 1:
The system dynamically adapts path development by detecting and categorizing obstacles (static vs. dynamic) and adjusting navigation strategies accordingly, allowing the autonomous vehicle to handle both fixed obstacles and moving objects like livestock or equipment
Solution Approach 2:
The path development process is segmented into distinct phases: detecting recognizable objects, determining fixed reference locations, establishing initial position and orientation, and generating operational paths, making the complex task of navigating obstacle-rich environments more manageable
3Adaptability or versatility
If vegetation growth obscures obstacles and hazards, then the operating site can support natural growth, but visibility problems arise for navigation
Solution Approach 1:
The system uses multiple sensing modalities (cameras, LIDAR, GPS) that can detect obstacles through varying vegetation conditions, allowing the autonomous vehicle to navigate effectively regardless of vegetation density or growth patterns
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system allows autonomous vehicles to efficiently perform initial site setup, navigate through complex environments, and perform tasks effectively, even in dynamic and obstacle-rich conditions, thereby reducing the deployment barriers for autonomous vehicle utilization.
Implementation Method 1
the sensing may be performed using light detection and ranging (LIDAR)
Data Source
AI summary
Disclosed are solutions for an autonomous vehicle to perform an initial navigational setup at an operating site by: receiving initial location and orientation data pertaining to the autonomous vehicle; iteratively sensing a plurality of recognizable objects and determining a plurality of fixed reference locations corresponding to each of the plurality of recognizable objects relative to the initial location and orientation data; and developing an operational path plan for the autonomous vehicle to traverse the operating site based on the plurality of fixed reference locations. The autonomous vehicle may be an autonomous mower, the dynamic object may be a solar panel and/or solar panel post, and the sensing may be performed using light detection and ranging (LIDAR).