Collision detection useful in motion planning for robotics
US12330310B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 6, 2019 |
| Grant date | Jun 17, 2025 |
| Priority date | — |
| Expiry date | Mar 25, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40475
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Collision detection useful in motion planning for robotics advantageously employs data structure representations of robots, persistent obstacles and transient obstacles in an environment in which a robot will operate. Data structures may take the form of hierarchical data structures ((e.g., octrees, sets of volumes or boxes (e.g., a tree of axis-aligned bounding boxes (AABBs), a tree of oriented (not axis-aligned) bounding boxes, or a tree of spheres)) or non-hierarchical data structures (e.g., Euclidean Distance Fields) Such can result in computational efficiency, reduce memory requirements, and lower power consumption. The collision detection can take the form as a standalone function, providing a Boolean result that can be employed in executing any of a variety of different motion planning algorithms.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.