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

Claim 18:
19. A method for generating a route graph for autonomous taxi route planning for an aircraft, the method comprising:
receiving a clearance command the aircraft from a ground control station, the clearance command 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;
building the route graph 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 route graph 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.