METHOD FOR DETERMINING A PATH FOR A VEHICLE AND, PATH PLANNER FOR DETERMINING A PATH FOR A VEHICLE

摘要

method for determining a route for a vehicle, and route planner for determining a route for a vehicle. A route planner (1) and a method for determining a route for a vehicle includes setting a starting point for the vehicle. A termination point is defined. An obstacle detector (14) detects one or more obstacles in a work area between the starting point and the termination point. A boundary zone is defined over each corresponding obstacle. Candidate routes are identified between the starting point and the ending point. each candidate route intersects only once each boundary zone for each corresponding obstacle. An economic cost is estimated to cross each candidate route or a portion of it between the starting point and the ending point. A preferred route is selected from the identified candidate routes based on the preferred route being associated with a lower estimated economic cost.