Robot path planning method with static and dynamic collision avoidance in an uncertain environment
US11292132B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 26, 2020 |
| Grant date | Apr 5, 2022 |
| Priority date | — |
| Expiry date | Oct 3, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40475
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present disclosure relates to robot path planning. Depth information of a plurality of obstacles in an environment of a robot are obtained at a first time instance. A static distance map is generated based on the depth information. A path is computed for the robot based on the static distance map. At a second time instant, depth information of one or more obstacles is obtained. A dynamic distance map is generated based on the one or more obstacles, wherein for each obstacle that satisfies a condition: a vibration range of the obstacle is computed based on a position of the obstacle and the static distance map, and the obstacle is classified as a dynamic obstacle or a static obstacle based on a criterion associated with the vibration range. A repulsive speed of the robot is computed based on the dynamic distance map to avoid the dynamic obstacles.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.