AUTONOMOUS PATH PLANNING IN DEFICIENT MAPPING CONDITIONS

摘要

The presently disclosed subject matter includes a computer implemented method and a computer system dedicated for autonomous path planning in an autonomous vehicle for traversing an area in offroad conditions. According to the suggested approach selective path planning logic is applied when selecting a desired path, where the map is divided into a plurality of subregions, each subregion being defined by one or more respective ranges from the vehicle and uncharted cells in the map are processed depending on the respective subregion in which they are located. Segments that include cells classified as non-traversable and segments that include uncharted cells located in the short-range subregion are excluded from candidate paths. A preferred path is selected from the candidate paths and used when steering the vehicle.