Robot navigation using 2D and 3D path planning
AssigneeX Development LLC
InventorBenjamin Holson
Life of this patent
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Abstract
Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.
Claims20
A method performed by a robot, the method comprising:
- accessing, by the robot, map data indicating a two-dimensional layout of objects in a space;
- evaluating, by the robot, candidate paths for the robot to traverse the space based on the map data;
- determining, by the robot, that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot;
- in response to the determination, evaluating, by the robot, a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space;
- determining, by the robot, a path based on evaluating the three-dimensional shape of the robot with respect to the three-dimensional shape of the object in the space;
- and
- moving, by the robot, along the determined path.
A system comprising:
- one or more computers;
- and
- one or more computer-readable media storing instructions that, when executed by the one or more computers, cause the one or more computers to perform operations comprising:
- accessing, by the one or more computers, map data indicating a two-dimensional layout of objects in a space;
- evaluating, by the one or more computers, candidate paths for a robot to traverse the space based on the map data;
- determining, by the one or more computers, that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot;
- in response to the determination, evaluating, by the one or more computers, a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space;
- determining, by the one or more computers, a path based on evaluating the three-dimensional shape of the robot with respect to the three-dimensional shape of the object in the space;
- and
- providing, by the one or more computers, data that instructs or causes the robot to move along the determined path.
One or more non-transitory computer-readable media storing instructions that, when executed by one or more computers, cause the one or more computers to perform operations comprising:
- accessing, by the one or more computers, map data indicating a two-dimensional layout of objects in a space;
- evaluating, by the one or more computers, candidate paths for a robot to traverse the space based on the map data;
- determining, by the one or more computers, that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot;
- in response to the determination, evaluating, by the one or more computers, a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space;
- and
- determining, by the one or more computers, a path based on evaluating the three-dimensional shape of the robot with respect to the three-dimensional shape of the object in the space;
- and
- providing, by the one or more computers, data that instructs or causes the robot to move along the determined path.
Dependencies are inferred from the claim text.