Offset Path Generation for Ground Vehicles
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Solution Overview
Problem
Existing methods for generating offset paths for vehicles do not account for the physical constraints of the vehicle, such as wheel turning radius, leading to paths that the vehicle cannot traverse.
Innovation Solution
A computer-implemented method that compares segments of a base path to a curvature constraint based on the vehicle's characteristics and desired offset distance, modifying the path if necessary to ensure it meets the vehicle's traversal capabilities, thereby generating a feasible offset path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If offset path is generated by translating each point of the base path at a distance d perpendicular to the base path, then the offset path is created at the desired distance from the base path, but the vehicle cannot follow the generated offset path due to physical constraints such as wheel turning radius
Solution Approach 1:
The patent applies preliminary action by checking the curvature of the base path against the vehicle's curvature constraint before generating the offset path. If the base path violates the curvature constraint, it is modified in advance to satisfy the constraint, ensuring that the subsequent offset path generation will produce a feasible path that the vehicle can actually follow.
Solution Approach 2:
The patent modifies the base path parameters (curvature, position of data points) to satisfy the curvature constraint. By adjusting the path geometry parameters before offset generation, the system ensures that the resulting offset path has curvature within the vehicle's capabilities, resolving the contradiction between maintaining desired offset distance and ensuring vehicle traversability.
2Reliability
If the base path is modified to satisfy curvature constraints, then the vehicle can traverse the path, but the offset distance from the original base path may vary
Solution Approach 1:
The patent applies local quality by modifying only the portions of the base path that violate the curvature constraint, while leaving the rest of the path unchanged. This localized modification approach minimizes the impact on the overall offset distance, maintaining accuracy in regions where the original path was already feasible.
Solution Approach 2:
The system uses feedback by continuously checking whether the modified base path segments satisfy the curvature constraint after modification. If the modification causes the offset path to deviate excessively from the desired distance, the system can iteratively adjust the modification to balance curvature feasibility with offset distance accuracy.
3Reliability
If curvature constraint checking and modification is performed, then feasible offset paths are generated, but the path generation process becomes more complex
Solution Approach 1:
The patent segments the base path into discrete segments or data points that can be individually evaluated and modified. By processing the path in segments rather than as a whole, the complexity of curvature constraint checking and modification is reduced, making the overall process more manageable and computationally efficient.
Data Source
AI summary
A computer-implemented method for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path is provided. The at least one segment of the base path is represented by a stored set of data points. The computer-implemented method includes comparing the at least one segment of the base path to a curvature constraint to determine if the at least one segment of the base path violates the curvature constraint. The curvature constraint is based on a characteristic of the vehicle and a desired offset distance from the at least one segment of the base path. The characteristic reflects the vehicle's ability to traverse at least one segment of a path. The method further includes modifying the at least one segment of the base path to satisfy the curvature constraint, if the at least one segment of the base path violates the curvature constraint. At least one segment of an offset path for the vehicle to follow is generated based upon the desired offset distance from the modified at least one segment of the base path.