The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 01, 2022
Filed:
Sep. 13, 2019
The Boeing Company, Chicago, IL (US);
Francisco A. Navarro, Madrid, ES;
Lucas Rodriguez Diaz, Seville, ES;
Ernesto Valls Hernandez, Madrid, ES;
The Boeing Company, Chicago, IL (US);
Abstract
A computer-implemented method and a system for generating a path for a vehicle from a source to a target within a two-dimensional (2D) environment with one or more obstacles is disclosed. The obstacles may be dynamic, static or both. The method comprises generating, in a two dimensions-plus-time space, a velocity cone that represents a set of potential waypoints reachable from a first source for the vehicle moving at a speed, providing a polytope, obtaining at least one interception polygon by intersecting and projecting the velocity cone with the polytope on the 2D region; generating a 2D scene comprising interception polygons to avoid, computing a visibility graph algorithm for the 2D scene and obtaining a plurality of conflict-free sub-paths, and composing a valid path connecting the source to the target based on the plurality of conflict-free sub-paths.