Robot navigation using 2D and 3D path planning
AssigneeGoogle Inc.
InventorBenjamin Holson
Life of this patent
Estimating the term…
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 (i) a planning module for a robot fails to identify a potential collision-free path for the robot through the space based on a maximum profile for the robot and (ii) the planning module does identify at least one potential collision-free path for the robot through the space based on a minimum profile for the robot;
- based on the determination, evaluating at least one three-dimensional shape of the robot with respect to at least one three-dimensional shape of at least one object in the space;
- determining a path based on evaluating the at least one three-dimensional shape of the robot with respect to the at least one three-dimensional shape of the at least one object in the space;
- and
- causing the robot to move along the determined path.
A system comprising:
- one or more computers;
- and
- one or more computer-readable media storing instructions that, 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 (i) a planning module for a robot fails to identify a potential collision-free path for the robot through the space based on a maximum profile for the robot and (ii) the planning module does identify at least one potential collision-free path for the robot through the space based on a minimum profile for the robot;
- based on the determination, evaluating at least one three-dimensional shape of the robot with respect to at least one three-dimensional shape of at least one object in the space;
- determining a path based on evaluating the at least one three-dimensional shape of the robot with respect to the at least one three-dimensional shape of the at least one object in the space;
- and
- causing the robot to move along the determined path.
One or more computer-readable media storing instructions that, 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 (i) a planning module for a robot fails to identify a potential collision-free path for the robot through the space based on a maximum profile for the robot and (ii) the planning module does identify at least one potential collision-free path for the robot through the space based on a minimum profile for the robot;
- based on the determination, evaluating at least one three-dimensional shape of the robot with respect to at least one three-dimensional shape of at least one object in the space;
- determining a path based on evaluating the at least one three-dimensional shape of the robot with respect to the at least one three-dimensional shape of the at least one object in the space;
- and
- causing the robot to move along the determined path.
Dependencies are inferred from the claim text.