US 10,379,539 B2 · Systems and methods for dynamic route planning in autonomous navigation

Abstract

Systems and methods for dynamic route planning m autonomous navigation are disclosed. In some exemplary implementations, a robot can have one or more sensors configured to collect data about an environment including detected points on one or more objects in the environment. The robot can then plan a route in the environment, where the route can comprise one or more route poses. The route poses can include a footprint indicative at least in part of a pose, size, and shape of the robot along the route. Each route pose can have a plurality of points therein. Based on forces exerted on the points of each route pose by other route poses, objects in the environment, and others, each route pose can reposition. Based at least in part on interpolation performed on the route poses (some of which may be repositioned), the robot can dynamically route.

Claims20

Dependent claims

A robot for maneuvering along a route, comprising:

one or more sensors coupled to the robot, the one or more sensors configured to collect data about an environment proximate to the robot including detected points on one or more objects in the environment;
and
a controller configured to execute computer readable instructions to,
determine a route on a map for the robot to travel, the map corresponding to the environment and being generated by at least one or more sensors coupled to the robot, the route including a plurality of points such that a first point being discretized than a second point, each of the plurality of points corresponding to a respective pose of the robot, the respective pose of the robot including a plurality of points disposed therein, the respective pose corresponding to at least one of position and orientation of the robot, and
compute repulsive forces from a point on an object onto the plurality of points of the respective pose, the object being on the map.

2 more elements

A method for dynamic navigation and route planning of a robot in an environment, comprising:

determining a route on a map for the robot, the route including one or more route poses, each route pose comprising a footprint indicative at least in part of a pose and a shape of the robot along the route and each route pose having a plurality of points disposed therein, the map corresponding to an environment and being generated by at least one sensor on the robot, the route including a plurality of points such that a first point being discretized than a second point, each of the plurality of points corresponding to a respective pose of the robot, the respective pose of the robot including a plurality of points disposed therein, the respective pose corresponding to at least one of position and orientation of the robot;
and
computing repulsive forces from a point on an object in the environment onto the plurality of points of a first route pose of the one or more route poses.

A non-transitory computer-readable storage apparatus having a plurality of instructions stored thereon, that when executed by at least one processor configure the at last one processor to:

determine a route on a map for a robot, the route comprising one or more route poses, each route pose comprising a footprint indicative at least in part of a pose and a shape of the robot along the route and each route pose having a plurality of points disposed therein, the map corresponding to the environment and being generated by at least one sensor on the robot, the route including a plurality of points such that a first point being discretized than a second point, each of the plurality of points corresponding to a respective pose of the robot, the respective pose of the robot including a plurality of points disposed therein, the respective pose corresponding to at least one of position and orientation of the robot;
and
compute repulsive forces from a point on an object in the environment onto the plurality of points of a first route pose of the one or more route poses.

Dependencies are inferred from the claim text.

Systems and methods for dynamic route planning in autonomous navigation

Life of this patent

Systems and methods for dynamic route planning in autonomous navigation

Life of this patent

Abstract

Claims20