{
  "$type": "site.standard.document",
  "description": "Path planning for mobile machine in large scale navigation disclosed. A path for moving a mobile machine is planned by: determining a start map node in a map graph based on a start point in the path and a goal map node in the map graph based on a goal point in the path; determining whether the…",
  "path": "/patents/1376210",
  "publishedAt": "2025-07-10T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/206",
    "Futronics (NA) Corporation"
  ],
  "textContent": "Path planning for mobile machine in large scale navigation disclosed. A path for moving a mobile machine is planned by: determining a start map node in a map graph based on a start point in the path and a goal map node in the map graph based on a goal point in the path; determining whether the start map node and the goal map node correspond to the same submap; and if so, planning the path between the start point and the goal point using a real-time path planning method; otherwise, obtaining the path between the start point and the goal point by merging a node path between the start map node and the goal map node, a first real-time path between the start point and a first stop point, and a second real-time path between the goal point and a last stop point.",
  "title": "PATH PLANNING FOR MOBILE MACHINE IN LARGE SCALE NAVIGATION"
}