Fixed segmented lattice planning for a mobile automation apparatus
US10591918B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 1, 2017 |
| Grant date | Mar 17, 2020 |
| Priority date | — |
| Expiry date | Aug 25, 2037 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04L67/12
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Fixed segmented lattice planning for a mobile automation apparatus is provided. A mobile automation apparatus is provisioned with a plurality of segments for a plurality of paths through an environment, each of the plurality of segments being fixed in a reference frame, the plurality of segments arranged in a lattice configuration, with adjacent segments defining fixed nodes in the lattice configuration. The apparatus navigates through the environment on a segment-by-segment basis, storing control inputs and error signals for each segment and then later, when again navigating a segment using stored control inputs and error signals to generate current control inputs, along with current error signals, and storing the current control inputs and the current error signals. Indeed, each time the apparatus navigates a segment in the lattice configuration, the control inputs and the error signals are updated to refine navigation through the environment at each navigation through a segment.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.