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 one or more computers, the method comprising:
- accessing data indicating a layout of objects in a space;
- determining that a candidate path for a robot to traverse the space may result in a potential collision;
- in response to the determination, evaluating shapes of the robot that correspond to different poses or configurations of the robot;
- based on the evaluation, identifying one of the poses or configurations of the robot that enables the robot to traverse the space without a collision;
- and
- providing data that instructs or causes the robot to traverse the space in the identified pose or configuration.
A system comprising:
- one or more computers;
- and
- one or more computer-readable media storing instructions that are operable, when executed by the one or more computers, cause the one or more computers to perform operations comprising:
- accessing data indicating a layout of objects in a space;
- determining that a candidate path for a robot to traverse the space may result in a potential collision;
- in response to the determination, evaluating shapes of the robot that correspond to different poses or configurations of the robot;
- based on the evaluation, identifying one of the poses or configurations of the robot that enables the robot to traverse the space without a collision;
- and
- providing data that instructs or causes the robot to traverse the space in the identified pose or configuration.
One or more non-transitory computer-readable media storing instructions that are operable, when executed by the one or more computers, cause the one or more computers to perform operations comprising:
- accessing data indicating a layout of objects in a space;
- determining that a candidate path for a robot to traverse the space may result in a potential collision;
- in response to the determination, evaluating shapes of the robot that correspond to different poses or configurations of the robot;
- based on the evaluation, identifying one of the poses or configurations of the robot that enables the robot to traverse the space without a collision;
- and
- providing data that instructs or causes the robot to traverse the space in the identified pose or configuration.
Dependencies are inferred from the claim text.