Mobile Machine Trajectory Planning Under Multi-Constraint Missions
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Solution Overview
Problem
Current mission planning systems for mobile vehicles face challenges in simultaneously considering temporal, geographical, topological, and equipment-specific constraints, leading to high cognitive load for operators, particularly in real-time scenarios, where translating high-level intentions into optimized trajectory plans is difficult.
Innovation Solution
A method and device for generating trajectory plans that involve obtaining high-level criteria, generating operational trajectories and calculating costs associated with these criteria, determining trajectory plans based on overall costs, and implementing a post-processing step for filtering to provide distinct and understandable alternatives to operators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple constraints (temporal, geographical, topological, meteorological, equipment-specific) are simultaneously considered in mission planning, then the quality and validity of trajectory plans improve, but the cognitive load and stress on the operator increase significantly
Solution Approach 1:
The patent segments the complex mission planning process into distinct phases: obtaining high-level criteria, generating operational trajectories for each task, calculating costs, and determining the final trajectory plan. This segmentation allows the system to handle multiple constraints systematically without overwhelming the operator, as each phase processes specific aspects independently before integration.
Solution Approach 2:
The patent introduces an intermediary computational system that acts as a mediator between the operator's high-level intentions and the complex constraint satisfaction requirements. This intermediary automatically processes the multiple constraints (temporal, geographical, topological, meteorological, equipment-specific) and generates optimized trajectory plans, shielding the operator from the complexity while ensuring all constraints are met.
2Measurement precision
If precise instructions are provided for each piece of equipment within parameter ranges, then the control precision improves, but the device complexity and difficulty of real-time adjustment increase
Solution Approach 1:
The patent implements dynamic adaptability by allowing the mission planning system to adjust trajectory plans in real-time based on changing conditions. The system maintains precise control over equipment parameters while dynamically reoptimizing trajectories when constraints change, enabling flexible response without requiring complete re-planning from scratch.
Solution Approach 2:
The patent utilizes parameter changes to simplify the interface - instead of requiring operators to specify precise instructions for each equipment parameter, the system accepts high-level criteria and automatically adjusts equipment parameters within valid ranges. This maintains control precision while reducing the apparent complexity for the operator.
3Adaptability or versatility
If a large number of operational trajectories are generated for each task, then the adaptability and choice of solutions improve, but the time and computational resources required increase
Solution Approach 1:
The patent applies partial action by generating a sufficient number of operational trajectories to meet adaptability requirements without exhaustively generating all possible trajectories. The system identifies and processes the most relevant trajectories based on high-level criteria, providing adequate choice while avoiding unnecessary computational expenditure on marginal alternatives.
Solution Approach 2:
The patent performs preliminary generation of operational trajectories for each task before final plan determination. This allows the system to pre-process and evaluate multiple trajectory options, filtering and organizing them according to constraints and criteria, so that when real-time planning is needed, the computational burden is already partially addressed.
Data Source
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AI summary
The invention relates to a method and a device for generating at least one trajectory plan of a mobile machine to carry out a mission comprising a plurality of tasks to be performed.The device implements a module for obtaining (22) at least one high-level criterion to be satisfied, a module (24) for generating, for each task, a set of operational trajectory(ies), and calculating a first cost, related to the high-level criterion, associated; a module (26) for calculating at least one transition between two successive operational trajectories and calculating a second cost, related to the high-level criterion, associated with the transition, and a module (28) for determining at least one trajectory plan, comprising an operational trajectory selected from each set of operational trajectories generated, and a transition between two successive operational trajectories, the determination of a trajectory plan being carried out according to said first and second costs.