Trimble Inc.

Kapil Tahiliani

Juan Carlos Santamaria

Shantnu Kakkar

Eric Paul Boehlke

Adrian Ferrier

Darren Howie

Kevin Pattison

A specific plan for traversing a lattice of a geographic region is generated and provided to an autonomous vehicle. A general plan that includes the lattice and a planned sequence of operator traversal data of the lattice is received. Actual operator traversal data used to traverse the geographical region is determined. A tolerance range that defines an allowable deviation from the general plan is determined. A first subset of the actual operator traversal data that is within the tolerance range and a second subset of the actual operator traversal data that is not within the tolerance range is determined. A specific plan for traversing the geographical region is formulated based on the first subset of the actual operator traversal data that is within the tolerance range. The specific plan is provided to the autonomous vehicle for controlling traversal of the geographical region by the autonomous vehicle.

Specific traversal plan from general plan and actual traversal of lattice

A method of area coverage planning with replenishment planning includes receiving information of a boundary of the work area, location information of one or more refill stations, and information of a current amount of the material left in the autonomous vehicle, laying a plurality of tracks within the boundary of the work area so as to minimize a total distance of the plurality of tracks, generating a coverage trajectory, and based on (i) the coverage trajectory, (ii) the location information of the one or more refill stations, (iii) the current amount of the material left in the autonomous vehicle, and (iv) a nominal full amount and a nominal consumption rate of the material by the autonomous vehicle, determining one or more logistic points along the coverage trajectory at which a remaining amount of the material reaches a threshold, for each logistic point, generating a replenishment trajectory.

Area coverage planner with replenishment planner

A method of area coverage planning for an autonomous vehicle includes, at a computer system, receiving information of a boundary of a work area, and laying a plurality of tracks within the boundary of the work area. The plurality of tracks is spaced apart from each other by a spacing. Laying the plurality of tracks includes, based on the information of the boundary of the work area, performing a multivariate optimization to: (i) determine an optimal direction of the plurality of tracks, and (ii) an optimal offset for a first track from the boundary, so as to minimize a total distance of the plurality of tracks. The method further includes generating a trajectory that is traversable by the autonomous vehicle to traverse the plurality of tracks.

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Alpharetta, GA, United States of America

Kapil Tahiliani