Patent ID: 11908336
Assignee: THE BOEING COMPANY
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A system for autonomous taxi route planning for an aircraft, the system comprising:
a processor; and
memory, the memory storing instructions, when executed by the processor, cause the processor to:
receive a route planning problem, generated from a clearance command received at the aircraft from a ground control station and comprising a sequence of named places, which include one or more taxiways, to a named destination on an airport ground, wherein each taxiway has a guideline; and
autonomously generate an executable taxi route corresponding to the planning problem by:
iterating through a plurality of stages, wherein the stages comprise one or more data structures that associate a start pose of the aircraft and each of the sequence of named places with a set of zones and a plurality of vertices and associates the named destination with one or more goal poses, wherein at least one of the named places is a taxiway that has a plurality of associated zones, and
selecting the executable taxi route through the associated zones of the taxiways that minimizes free space moves, wherein the free space moves are not along any guidelines of the taxiways.