US 11,999,479 B2
Fast path planning for dynamic avoidance in partially known environments
Craig John Bonnoit, Vienna, VA (US); and Jeffery Saunders, Quincy, MA (US)
Assigned to AURORA FLIGHT SCIENCES CORPORATION, A SUBSIDIARY OF THE BOEING COMPANY, Manassas, VA (US)
Filed by Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company, Manassas, VA (US)
Filed on Sep. 13, 2021, as Appl. No. 17/447,540.
Prior Publication US 2023/0078502 A1, Mar. 16, 2023
Int. Cl. G05D 1/10 (2006.01); B64C 39/02 (2023.01); G01C 21/00 (2006.01); G05D 1/00 (2006.01); G06Q 10/047 (2023.01); G06Q 10/0631 (2023.01); G06Q 50/30 (2012.01)
CPC B64C 39/024 (2013.01) [G01C 21/3807 (2020.08); G05D 1/1064 (2019.05); G06Q 10/047 (2013.01); B64U 2201/10 (2023.01); G06Q 10/06313 (2013.01); G06Q 50/30 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of traversing in an environment that includes at least one obstacle, by a mobile autonomous system, to a destination in the environment, the method comprising:
generating, prior to the mobile autonomous system commencing activity in the environment, a graph comprising a plurality of vertices representing positions in the environment and a plurality of edges between vertices representing feasible transitions by the mobile autonomous vehicle in the environment, wherein the vertices store identifications of next vertices in traversing to the destination, and wherein the graph is log-sparse;
annotating the graph with at least one edge connecting a representation of a present position of the mobile autonomous system to a vertex of the graph;
determining, based on the graph, a path from the present position of the mobile autonomous system in the environment to the destination; and
traversing the environment to the destination, by the mobile autonomous system, based on the path.