Robot path planning method with static and dynamic collision avoidance in an uncertain environment

A non-transitory machine-readable medium having information recorded thereon for robot path planning, wherein the information, when read by a machine, causes the machine to perform the steps of:

• obtaining, at a first time instant, depth information of a plurality of obstacles in an environment of a robot;
• generating a static distance map based on the depth information of the plurality of obstacles;
• computing, in accordance with a model, a path for the robot based on the static distance map;
• obtaining, at a second time instant, depth information of one or more obstacles in the environment of a robot;
• generating a dynamic distance map based on the one or more obstacles;
• for each of the one or more obstacles that satisfy a condition
• computing a vibration range of the obstacle based on a position of the obstacle and the static distance map, and
• classifying the obstacle as one of a dynamic obstacle and a static obstacle based on a criterion associated with the vibration range;
• and
• calculating a repulsive speed of the robot based on the dynamic distance map, the repulsive speed corresponding to a speed at which the robot deviates from the path to avoid each of the dynamic obstacles.

A system for robot path planning, comprising:

• a processor configured to
• obtain, at a first time instant, depth information of a plurality of obstacles in an environment of a robot;
• generate a static distance map based on the depth information of the plurality of obstacles;
• compute, in accordance with a model, a path for the robot based on the static distance map;
• obtain, at a second time instant, depth information of one or more obstacles in the environment of a robot;
• generate a dynamic distance map based on the one or more obstacles;
• for each of the one or more obstacles that satisfy a condition
• compute a vibration range of the obstacle based on a position of the obstacle and the static distance map, and
• classify the obstacle as one of a dynamic obstacle and a static obstacle based on a criterion associated with the vibration range;
• and
• calculate a repulsive speed of the robot based on the dynamic distance map, the repulsive speed corresponding to a speed at which the robot deviates from the path to avoid each of the dynamic obstacles.