Guided Line Acquisition Path Planning for Vehicle Heading Errors
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Solution Overview
Problem
Existing vehicle guidance systems fail to consider the vehicle's current position and constraints, leading to unpredictable paths and increased time and distance traveled to reach the final guidance line, resulting in absolute lateral and heading errors.
Innovation Solution
A guided line acquisition system that generates a path from the vehicle's current location to the final guidance line, constrained by the minimum turning radius and angle of approach, using a location-determining receiver, guidance module, and user interface, which communicates with the vehicle controller to control the path effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If existing systems direct the vehicle towards the final guidance line path without consideration of vehicle constraints, then the system is simple to operate, but the path generated is unpredictable and increases time and distance traveled
Solution Approach 1:
The system performs preliminary path planning by calculating an optimal acquisition path before the vehicle reaches the final guidance line. The guidance module pre-determines the path considering vehicle constraints (minimum turning radius, angle of approach), allowing the vehicle to follow a predetermined optimal route rather than reacting to errors in real-time, thus reducing time and distance traveled.
Solution Approach 2:
The path planning system dynamically adjusts the acquisition path based on real-time vehicle position, orientation, and constraints. The guidance module continuously recalculates the optimal path as the vehicle moves, ensuring the path remains predictable and optimal while adapting to changing conditions, thereby improving productivity without excessive complexity.
2Manufacturing precision
If the system constrains the acquisition path by minimum turning radius and angle of approach, then the path precision is improved, but the system complexity increases
Solution Approach 1:
The guidance module uses parameter changes by adjusting path geometry based on vehicle-specific parameters (minimum turning radius, maximum angle of approach). Instead of complex real-time control, the system pre-calculates paths using these parameters to define constraints, ensuring the vehicle can physically follow the path while achieving precise alignment with the final guidance line.
Solution Approach 2:
The acquisition path acts as an intermediary between the vehicle's current position and the final guidance line. This intermediate path incorporates vehicle constraints (turning radius, approach angle) as mediating factors, allowing the vehicle to gradually approach the guidance line in a controlled manner, improving precision without requiring direct complex control of the vehicle dynamics.
3Loss of time
If the system generates an optimal acquisition path considering vehicle constraints, then the distance and time to reach the guidance line is reduced, but the computational complexity increases
Solution Approach 1:
The path planning is segmented into distinct phases: acquiring the final guidance line and then tracking it. The guidance module separates the complex task of optimal path generation into manageable segments based on vehicle constraints, calculating only the necessary portions of the path (acquisition phase with angle of approach constraints, then tracking phase), thereby reducing computational complexity while maintaining time efficiency.
Data Source
AI summary
Various embodiments of the present disclosure provide a guided line acquisition system and method for generating a path of a vehicle from its current location to a final guidance line. This path is referred to hereinafter as an acquisition path. The generated acquisition path starts at the current vehicle position and ends co-linear to the final guidance path. The acquisition path is generated using one constraint and one objective parameter. More specifically, the acquisition path is constrained by the minimum turning radius of the vehicle and angle of approach criteria, (i.e., the maximum heading relative to the guidance line). It should be appreciated that while the guided line acquisition system attempts to find an acquisition path that meets the angle of approach criteria, the guidance acquisition system will allow this objective to be sacrificed when it is not possible due to the minimum turning radius of the vehicle.