Dynamic window approach using optimal reciprocal collision avoidance cost-critic
US10429847B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 22, 2017 |
| Grant date | Oct 1, 2019 |
| Priority date | — |
| Expiry date | Apr 1, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/166
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method and system for navigation of a robot along a goal path and avoiding obstacles. The method includes receiving goal pose for one or more robots and determining a goal path for a first robot while avoiding moving and fixed obstacles of a received obstacle map. A first objective function is evaluated to select a preferred velocity from a generated set of candidate velocities, the selecting based on one or more weighted cost functions. A set of velocity obstacles created based on the poses of the one or more robots and the preferred velocity is used in evaluating a second objective function to determine the motion of the robot in the next time cycle. Creating the set of velocity objects includes converting the preferred velocity from a non-holonomic to a holonomic velocity.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.