18156703. METHOD AND APPARATUS FOR PLANNING OBSTACLE AVOIDANCE PATH OF TRAVELING APPARATUS simplified abstract (Huawei Technologies Co., Ltd.)
METHOD AND APPARATUS FOR PLANNING OBSTACLE AVOIDANCE PATH OF TRAVELING APPARATUS
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METHOD AND APPARATUS FOR PLANNING OBSTACLE AVOIDANCE PATH OF TRAVELING APPARATUS - A simplified explanation of the abstract
This abstract first appeared for US patent application 18156703 titled 'METHOD AND APPARATUS FOR PLANNING OBSTACLE AVOIDANCE PATH OF TRAVELING APPARATUS
Simplified Explanation
The planning method described in this patent application involves determining an obstacle avoidance path for a traveling apparatus in a complex and narrow traffic scenario. Here are the key points:
- The method starts by obtaining a distance map, which provides information about the distances between the traveling apparatus and obstacles in its surroundings.
- Based on the distance map, a first horizontal background cost potential field is determined in a near-field range. This field represents the repulsion caused by an obstacle at a specific horizontal location on the traveling apparatus.
- The first horizontal background cost potential field includes a target minimum-value point, which is the desired path for the traveling apparatus to avoid the obstacle.
- The background costs on both sides of the target minimum-value point exhibit monotonicity, meaning they increase or decrease consistently.
- The background cost represents the near-field horizontal collision cost caused by the obstacle at the horizontal location to the traveling apparatus.
- Using the first horizontal background cost potential field, a current obstacle avoidance path is determined for the traveling apparatus.
Potential applications of this technology:
- Autonomous vehicles: This method can be used in the planning algorithms of autonomous vehicles to help them safely navigate through complex and narrow traffic scenarios.
- Robotics: The obstacle avoidance path planning method can be applied to various robotic systems, such as drones or industrial robots, to ensure their safe and stable operation in cluttered environments.
Problems solved by this technology:
- Complex and narrow traffic scenarios: The method addresses the challenge of planning obstacle avoidance paths in situations where there are multiple obstacles and limited space for maneuvering.
- Safe and stable navigation: By considering the repulsion caused by obstacles and determining a path that minimizes collision costs, the method enables the traveling apparatus to avoid obstacles safely and maintain stability during navigation.
Benefits of this technology:
- Improved safety: The method ensures that the traveling apparatus can avoid obstacles in a safe manner, reducing the risk of collisions and accidents.
- Stable navigation: By considering the background costs and monotonicity of the potential field, the method helps the traveling apparatus maintain stability while avoiding obstacles.
- Adaptability: The method can be applied to different types of traveling apparatus and can adapt to various complex and narrow traffic scenarios.
Original Abstract Submitted
The planning method includes: obtaining a distance map; determining a first horizontal background cost potential field in a near-field range based on the distance map, where the first horizontal background cost potential field is a first repulsion field formed by an obstacle at a horizontal location on the traveling apparatus, the first horizontal background cost potential field includes a target minimum-value point, background costs on two horizontal sides of the target minimum-value point feature monotonicity, and the background cost represents a near-field horizontal collision cost caused by the obstacle at the horizontal location in the near-field range to the traveling apparatus; and determining a current obstacle avoidance path based on the first horizontal background cost potential field. The method for planning an obstacle avoidance path in embodiments of this application enables the traveling apparatus to avoid an obstacle safely and stably in a complex and narrow traffic scenario.
