Vehicle Waypoint Cost Selection for Obstacle-Aware Route Planning
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Solution Overview
Problem
The selection of waypoints in route planning for non-holonomic vehicles is inefficient, leading to increased travel time and risk of encountering obstacles, which affects the vehicle's ability to reach its destination effectively and efficiently.
Innovation Solution
A route determining system that includes a global planning module to identify waypoints along a global path and a local planning module to select an optimal waypoint based on cost calculations considering path length, direction changes, orientation differences, obstacle proximity, and Euclidean distance, ensuring efficient movement and reduced processing load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional waypoint selection methods are used, then the route planning is simple, but the travel time increases and efficiency decreases
Solution Approach 1:
The system changes the parameter of waypoint selection from arbitrary or distance-based to cost-based selection. By introducing a cost calculation that considers path length, direction changes, orientation differences, and obstacle proximity, the system optimizes waypoint selection to minimize travel time and maximize movement efficiency.
Solution Approach 2:
The system uses feedback from multiple factors (path length, direction changes, orientation, obstacle proximity) to continuously evaluate and select the next optimal waypoint. This feedback mechanism ensures that each waypoint selection is based on current vehicle state and environmental conditions, improving overall travel efficiency.
2Productivity
If more waypoints are considered for selection, then the route optimization improves, but the processing load increases
Solution Approach 1:
The system applies local quality by focusing computational resources on evaluating only the relevant characteristics of waypoints that matter for optimal selection. Rather than exhaustively analyzing all possible routes, the system calculates costs based on specific local factors (path length, direction changes, orientation, obstacle proximity) to achieve efficient route optimization with reduced processing load.
3Productivity
If waypoints are selected without considering orientation, then the path planning is simpler, but the vehicle requires more direction changes reducing efficiency
Solution Approach 1:
The system introduces orientation difference as a key parameter in the waypoint cost calculation. By considering the angular difference between the vehicle's current orientation and the direction to the waypoint, the system selects waypoints that require minimal direction changes, thereby improving movement efficiency without excessive complexity.
Data Source
AI summary
A waypoint selection system includes a non-transitory computer readable medium configured to store instructions thereon; and a processor connected to the non-transitory computer readable medium. The processor is configured to execute the instructions for obtaining information related to a current pose of a vehicle; obtaining a plurality of waypoints between the current pose and a destination pose; and receiving obstacle information. The processor is configured to execute the instructions for determining a first waypoint cost for a first waypoint of the plurality of waypoints. The processor is configured to execute the instructions for selecting the first waypoint in response to the first waypoint cost satisfying a predetermined condition. The processor is configured to execute the instructions for outputting the selected first waypoint and all waypoints of the plurality of waypoints between the first waypoint and the current pose to a controller in response to selecting of the first waypoint.