Patent ID: 11914383
Assignee: DEKA PRODUCTS LIMITED PARTNERSHIP
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 1:
2. The system as in claim 1 wherein determining the path to reach the destination comprises:
the processor configured for executing instructions including:
(i) determining a first length of a first line between the axis of rotation and a first corner a 2D depiction of the AV;
(j) drawing a second line of the first length, the second line beginning at the axis of rotation and extending, perpendicularly, through a first boundary of the 2D depiction of the AV;
(k) determining a second length of a third line between the axis of rotation and a second corner of the 2D depiction of the AV;
(l) drawing a fourth line of the second length, the fourth line beginning at the axis of rotation and extending, perpendicularly, through a second boundary of the 2D depiction of the AV;
(m) drawing a first polygon around the 2D depiction of the AV, the first polygon including two opposing sides, each of the two opposing sides being a third length equaling a summation of the first length and the second length, the including the first boundary and the second boundary, the first boundary and the second boundary connecting opposing ends of the two opposing sides, the first polygon including a leading corner of the 2D depiction of the AV, the leading corner being chosen based on the rotation direction;
(n) creating the path by laying lines a fourth length of the first boundary end to end between the AV and the destination;
(o) determining a second polygon based on turn points;
(p) accessing an occupancy grid spatially coinciding with the second polygon;
(q) determining obstacles within the second polygon based on the occupancy grid; and
(r) if the obstacles are found in the second polygon, changing the rotation direction and returning to (n).