OBSTACLE DATA MODEL CONSTRUCTION SYSTEM WITH RANGE SENSOR SHADOWS AND USE IN MOTION PLANNING

摘要

A method of operating an obstacle data model construction system of an aircraft is provided. With a vehicle moving through a vehicle obstacle space from a first to a second position, the method includes scanning the vehicle obstacle space at the first and second positions, generating first and second boundary data sets from results of the scanning at the first and second positions, respectively, and deriving first and second shrouded regions from the first and second boundary data sets, respectively. The method further includes identifying a high confidence occupancy region from intersecting portions of the first and second shrouded regions or identifying an occupancy region from a union of the first and second shrouded regions.