US 12,271,197 B2
Method and system for decomposing cross-domain path planning of amphibious vehicle
Huayan Pu, Chongqing (CN); Lele Ding, Chongqing (CN); Xuyang Zheng, Chongqing (CN); Jun Luo, Chongqing (CN); Jie Ma, Chongqing (CN); Jing Huang, Chongqing (CN); Yongbing Chen, Chongqing (CN); Hongliang Liu, Chongqing (CN); Anming Shen, Chongqing (CN); and Haonan Sun, Chongqing (CN)
Assigned to Chongqing University, Chongqing (CN); and Shanghai University, Shanghai (CN)
Filed by CHONGQING UNIVERSITY, Chongqing (CN); and SHANGHAI UNIVERSITY, Shanghai (CN)
Filed on Jan. 13, 2023, as Appl. No. 18/096,588.
Claims priority of application No. 202211212139.3 (CN), filed on Sep. 30, 2022.
Prior Publication US 2024/0111288 A1, Apr. 4, 2024
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0212 (2013.01) [G05D 1/0206 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method for decomposing cross-domain path planning of an amphibious vehicle, comprising:
acquiring an amphibious map containing coastline information, determining a starting point and a target point of a cross-domain path planning task of the amphibious vehicle based on the amphibious map, and constructing a candidate set of land-water transition points, wherein the coastline information comprises several pieces of feasible land-water transition region position information;
setting a multilevel gradient search range on a coastline, and setting a set number of iterations for each search range;
searching from each search range based on the set number of iterations in a level-wise search mode, determining a locally-optimal land-water transition point in each search range, and adding the locally-optimal land-water transition point into the candidate set of land-water transition points;
setting a heuristic search termination condition, and determining, based on the heuristic search termination condition, whether there is a possibility that a current locally-optimal land-water transition point is globally optimal;
if yes, stopping searching, and selecting a globally-optimal land-water transition point from the candidate set of land-water transition points; or
if no, determining whether the multilevel gradient search range is completely traversed;
if yes, stopping searching, and selecting a globally-optimal land-water transition point from the candidate set of land-water transition points; or
if no, continuing to traverse the multilevel gradient search range until the globally-optimal land-water transition point is determined; and
redetermining the starting point and the target point of the cross-domain path planning task based on the globally-optimal land-water transition point, and performing global path planning.