Planning in mobile robots
US12351164B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 28, 2021 |
| Grant date | Jul 8, 2025 |
| Priority date | — |
| Expiry date | Aug 25, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D2109/10
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A computer-implemented method of determining control actions for controlling a mobile robot comprises: receiving a set of scenario description parameters describing a scenario and a desired goal for the mobile robot therein; in a first constrained optimization stage, applying a first optimizer to determine a first series of control actions that substantially globally optimizes a preliminary cost function for the scenario, the preliminary cost function based on a first computed trajectory of the mobile robot, as computed by applying a preliminary robot dynamics model to the first series of control actions, and in a second constrained optimization stage, applying a second optimizer to determine a second series of control actions that substantially globally optimizes a full cost function for the scenario, the full cost function based on a second computed trajectory of the mobile robot, as computed by applying a full robot dynamics model to the second series of control actions; wherein initialization data of at least one of the first computed trajectory and the first series of control actions is used to initialize the second optimizer for determining the second series of control action…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.