Wipro Limited
METHOD AND SYSTEM FOR DYNAMICALLY DETERMINING AND SEAMLESSLY SWITCHING TRAJECTORY PLANNER FOR AUTONOMOUS GROUND VEHICLES

Abstract:

This disclosure relates to method and system for dynamically determining and seamlessly switching trajectory planner (TP) for an Autonomous Ground Vehicle (AGV). The method includes determining a derived mission at a current position of the AGV along a global path based on static environment data from a navigation map and dynamic environment data acquired by the AGV. Further, the method includes identifying one or more potential TPs from a plurality of TPs based on the derived mission. Further, the method includes calculating a weighted suitability score for each of the one or more potential TPs based on a set of TP evaluation parameters. Further, the method includes determining a new TP from the one or more potential TPs to achieve the derived mission based on the weighted suitability score for each of the one or more potential TPs and a simulated evaluation of the new TP.