Dynamic probabilistic motion planning
US11911908B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 21, 2018 |
| Grant date | Feb 27, 2024 |
| Priority date | — |
| Expiry date | Nov 26, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40506
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Techniques and systems are disclosed for using swept volume profile data cached in association with a PRM to improve various aspects of motion planning for a robot. In some implementations, a first probabilistic road map representing possible paths to be travelled by a robot within a physical area is generated. An initial path for the robot within the first probabilistic road map is determined. Data indicating a second probabilistic road map representing a path to be travelled by a movable object within the physical area is obtained. A potential obstruction associated with one or more edges included in the subset of edges is detected. An adjusted path for the robot within the first probabilistic road map is then determined based on the potential obstruction.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.