# US 11,079,763 B2 · Trajectory planning method and system

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- Number: US 11,079,763 B2
- Document ID: US11079763B2
- Status: Granted
- Kind: B2
- Application number: 16/450,007
- Filed: 2019-06-24
- Published: 2020-02-27
- Granted: 2021-08-03
- Earliest claimed: 2018-08-22
- Assignees: Pegatron Corporation
- Applicants: Pegatron Corporation
- Inventors: Chia-Hsiu Wu
- Web page: https://patentgrep.com/patent/US11079763B2

## CPC

- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/0221: {involving a learning process}
- G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)}
- G01C 21/206: {specially adapted for indoor navigation}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)}
- G05D 1/0272: {comprising means for registering the travel distance, e.g. revolutions of wheels (measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00)}
- Y02D 30/70: in wireless communication networks
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- Y02D: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE

## Abstract

The following steps are executed by a self-propelled device and a calculating device: the self-propelled device moves on a path to form a moving trajectory; the calculating device obtains a sensing data file generated by a sensing module of the self-propelled device on the path; after the sensing data file is imported into a simultaneous localization and mapping algorithm, a map corresponding to the path can be constructed; if the sensing data file is imported into a loop closure algorithm, a pose at each unit time can be obtained, and an optimized trajectory can be formed; when the sensing data file is imported into a cartographer localization algorithm, a reference trajectory can be constructed, and whether the reference trajectory approaches an optimized trajectory is determined; and parameters capable of being imported into the self-propelled device are obtained according to the reference trajectory which approaches the optimized trajectory.

## Claims

### Claim 1

A trajectory planning method applied for a self-propelled device, wherein the self-propelled device moves on a path to form a moving trajectory, and the trajectory planning method comprises:
obtaining a sensing data file generated by a sensing module of the self-propelled device on the path;
importing the sensing data file into a simultaneous localization and mapping algorithm to construct a map corresponding to the path;
importing the sensing data file into a loop closure algorithm, obtaining a pose at each unit time, and constructing an optimized trajectory on the map;
importing the sensing data file into a cartographer localization algorithm, obtaining a pose at each unit time, and constructing a reference trajectory on the map, wherein the reference trajectory is corresponding to the moving trajectory of the self-propelled device on the path;
comparing the reference trajectory with the optimized trajectory to determine whether the reference trajectory approaches the optimized trajectory;
if the reference trajectory does not approach the optimized trajectory, adjusting parameters in the cartographer localization algorithm; and
if the reference trajectory approaches the optimized trajectory, importing the parameters in the cartographer localization algorithm into the self-propelled device,
wherein the reference trajectory and the optimized trajectory are compared by using a difference distribution method,
wherein a pose error value of the reference trajectory relative to the optimized trajectory at each unit time is calculated by using the difference distribution method, so as to obtain a distribution ratio of a plurality of error ranges of the pose error value.

### Claim 2 (depends on 1)

The trajectory planning method according to claim 1, wherein the sensing data file comprises a plurality of pieces of sensing data corresponding to time, position and directionality.

### Claim 3 (depends on 2)

The trajectory planning method according to claim 2, wherein the sensing data is generated by at least one of a light detection and ranging, an inertial measurement unit and an odometer of the sensing module.

### Claim 4 (depends on 1)

The trajectory planning method according to claim 1, wherein a distribution ratio of a minimum error range in the plurality of error ranges is taken and compared with a preset distribution ratio, so as to determine whether the reference trajectory approaches the optimized trajectory.

### Claim 5 (depends on 4)

The trajectory planning method according to claim 4, wherein if the distribution ratio of the minimum error range is less than the preset distribution ratio, the parameters in the cartographer localization algorithm are adjusted, then the sensing data file is imported into the cartographer localization algorithm with the adjusted parameters, so as to obtain a pose at each unit time again and to obtain a new reference trajectory, and the new reference trajectory and the optimized trajectory are compared again so as to obtain a distribution ratio of the new minimum error range is greater than the preset distribution ratio, the parameters in the cartographer localization algorithm with the adjusted parameters are imported into the self-propelled device.

### Claim 6

A trajectory planning system, comprising:
a self-propelled device, moving on a path to construct a moving trajectory, wherein the self-propelled device is provided with a sensing module, and the sensing module senses a topographical feature on the path of the self-propelled device so as to generate a sensing data file; and
a calculating device, obtaining the sensing data file and executing the following steps:
importing the sensing data file into a simultaneous localization and mapping algorithm to construct a map corresponding to the path;
importing the sensing data file into a loop closure algorithm, obtaining a pose at each unit time, and constructing an optimized trajectory on the map;
importing the sensing data file into a cartographer localization algorithm, obtaining a pose at each unit time, and constructing a reference trajectory on the map, wherein the reference trajectory is corresponding to the moving trajectory of the self-propelled device on the path;
comparing the reference trajectory with the optimized trajectory to determine whether the reference trajectory approaches the optimized trajectory;
if the reference trajectory does not approach the optimized trajectory, adjusting parameters in the cartographer localization algorithm; and
if the reference trajectory approaches the optimized trajectory, importing the parameters in the cartographer localization algorithm into the self-propelled device,
wherein the reference trajectory and the optimized trajectory are compared by using a difference distribution method,
wherein a pose error value of the reference trajectory relative to the optimized trajectory at each unit time is calculated by using the difference distribution method, so as to obtain a distribution ratio of a plurality of error ranges of the pose error value.

### Claim 7 (depends on 6)

The trajectory planning system according to claim 6, wherein the sensing data file comprises a plurality of pieces of sensing data corresponding to time, position and directionality.

### Claim 8 (depends on 7)

The trajectory planning system according to claim 7, wherein the sensing data is generated by at least one of a light detection and ranging, an inertial measurement unit and an odometer of the sensing module.

### Claim 9 (depends on 6)

The trajectory planning system according to claim 6, wherein a distribution ratio of a minimum error range in the plurality of error ranges is taken and compared with a preset distribution ratio, so as to determine whether the reference trajectory approaches the optimized trajectory.

### Claim 10 (depends on 9)

The trajectory planning system according to claim 9, wherein if the distribution ratio of the minimum error range is less than the preset distribution ratio, the parameters in the cartographer localization algorithm are adjusted, then the sensing data file is imported into the cartographer localization algorithm with the adjusted parameters, so as to obtain a pose at each unit time again and to obtain a new reference trajectory, and the new reference trajectory and the optimized trajectory are compared again so as to obtain a distribution ratio of a new minimum error range; and when the distribution ratio of the new minimum error range is greater than the preset distribution ratio, the parameters in the cartographer localization algorithm with the adjusted parameters are imported into the self-propelled device.