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AssigneeFive AI Limited
InventorsAndrew Blake, Subramanian Ramamoorthy, Svetlin-Valentinov Penkov, Majd Hawasly, Francisco Maria Girbal Eiras, Alejandro Bordallo Mico, Alexandre Oliveira E. Silva
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The invention provides a computer-implemented method of planning a path for a mobile robot such as an autonomous vehicle in the presence of K obstacles. The method uses, for each of the K obstacles, a shape Bk and a density function pk(x) representing the probabilistic position of the obstacle. The method repeats the following steps for at least two different paths A: —choosing a path A, where A is the swept area of the robot within a given time interval; and—calculating based on the density function of each obstacle and the swept path an upper bound on the total probability of at least one collision FD between the robot and the K obstacles. This allows a number of candidate paths to be ranked for safety. By precomputing factors of the computational steps over K obstacles, the computation per path is O(N), and not O(NK). A safety threshold can be used to filter out paths below that threshold. An operating path to control the robot can be selected from the remaining paths, optionally based on other factors such as comfort or efficiency.
A computer-implemented method of path planning a-path for a mobile robot in the presence of K obstacles where K is at least one, comprising:
A computer program product comprising instructions embodied in non-transitory media that, when the instructions are executed by a computer, cause the computer to perform a method of path planning for a mobile robot in the presence of K obstacles, where K is at least one, wherein each of the K obstacles has a shape model indicating a shape BK of the obstacle and a density function PK (x) representing probabilistic position of said obstacle, the method comprising:
A data processing system configured to path plan for a mobile robot and comprising:
Dependencies are inferred from the claim text.