Enhanced robot path planning
AssigneeIntrinsic Innovation LLC
InventorXingtao Zhao
Life of this patent
Estimating the term…
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for enhanced path planning. In some implementations, a first path is determined for travel by a robot, the first path extending from an origin to a destination. Path segments are determined based on the first path. A corner between two of the path segments has an angle less than a predetermined threshold is determined. In response to determining that the corner between two of the path segments has an angle less than the predetermined threshold, a bypass path segment is determined that bypasses the corner. A second path for the robot to travel is determined based on the path segments and the bypass path segment. Data indicating the second path is provided to the robot.
Claims19
A method performed by one or more computers, the method comprising:
- determining a first path for travel by a robot, the first path extending from an origin to a destination;
- determining path segments based on the first path;
- determining that a corner between two of the path segments has an angle less than a predetermined threshold;
- in response to determining that the corner between two of the path segments has an angle less than the predetermined threshold, determining a bypass path segment that bypasses the corner, wherein determining the bypass path segment that bypasses the corner comprises:
- identifying a first vertex of the path segments that is located before the corner;
- identifying a second vertex of the path segments that is located after the corner;
- and
- determining the bypass path segment to have an orientation parallel to a line between the first vertex and the second vertex;
- determining a second path for the robot to travel based on the path segments and the bypass path segment;
- and
- providing, to the robot, data indicating the second path.
A system comprising:
- one or more computers;
- and
- one or more computer-readable media comprising instructions that, when executed by the one or more computer-readable media, cause the one or more computers to perform operations comprising:
- determining a first path for travel by a robot, the first path extending from an origin to a destination;
- determining path segments based on the first path;
- determining that a corner between two of the path segments has an angle less than a predetermined threshold;
- in response to determining that the corner between two of the path segments has an angle less than the predetermined threshold, determining a bypass path segment that bypasses the corner, wherein determining the bypass path segment that bypasses the corner comprises:
- identifying a first vertex of the path segments that is located before the corner;
- identifying a second vertex of the path segments that is located after the corner;
- and
- determining the bypass path segment to have an orientation parallel to a line between the first vertex and the second vertex;
- determining a second path for the robot to travel based on the path segments and the bypass path segment;
- and
- providing, to the robot, data indicating the second path.
One or more non-transitory computer-readable media comprising instructions that, when executed by the one or more computer-readable media, cause the one or more computers to perform operations comprising:
- determining a first path for travel by a robot, the first path extending from an origin to a destination;
- determining path segments based on the first path;
- determining that a corner between two of the path segments has an angle less than a predetermined threshold;
- in response to determining that the corner between two of the path segments has an angle less than the predetermined threshold, determining a bypass path segment that bypasses the corner, wherein determining the bypass path segment that bypasses the corner comprises:
- identifying a first vertex of the path segments that is located before the corner;
- identifying a second vertex of the path segments that is located after the corner;
- and
- determining the bypass path segment to have an orientation parallel to a line between the first vertex and the second vertex;
- determining a second path for the robot to travel based on the path segments and the bypass path segment;
- and
- providing, to the robot, data indicating the second path.
Dependencies are inferred from the claim text.