Motion planning of a robot storing a discretized environment on one or more processors and improved operation of same
US11235465B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 5, 2019 |
| Grant date | Feb 1, 2022 |
| Priority date | — |
| Expiry date | Nov 9, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40448
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.