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    • 44. 发明申请
    • PATH PLANNING WITH DIRECTION OF TRAVEL AT START AND END POINTS
    • US20230072030A1
    • 2023-03-09
    • US17880654
    • 2022-08-04
    • Mohammad Shafikul HuqShakura Quabili
    • Mohammad S. HuqShakura Quabili
    • G01C21/34
    • A method is defined for a path to be designed from a sequence of way points called departing way point Pd, way point X1, way point X2, . . . , way point XN, and merging way point Pm, where directions of travel of a vehicle at departing and merging points are given at angles Θd and Θm or other forms of direction with respect to two given path segments, Ld and Lm, passing through the departing and merging way points successively. In order to plan a path, we pick two points, P−1 and P+1 on both sides of the point Pd located on the path segment Ld. We draw a line P−1P+1 passing through points P−1 and P+1. We pick two points, P−2 and P+2 on both sides of the point Pm located on the path segment Lm. We draw another line P−2P+2 passing through points P−2 and P+2. We draw two lines passing through Pd and Pm such that they make angles Θd and Θm with respect to the lines P−1P+1 and P−2P+2 successively. Then we pick point P1 and point P2 on these two lines. Now, we fit a B-Spline or B-Spline like curve to the sequence of points departing way point Pd, way point P1, way point X1, way point X2, . . . , way point XN, way point P2, and merging way point Pm. The B-Spline curve is the path planned for the vehicle to travel where the vehicle not only passes through the points Pd and Pm, but also maintains a travel direction at angles Θd and Θm with respect to given path segments, Ld and Lm.