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US 11,951,629 B2Granted
Systems, apparatuses, and methods for cost evaluation and motion planning for robotic devices
AssigneeBrain Corporation
InventorsOleg Sinyavskiy, Mark Ma, Tiger Lin
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Abstract
Systems, apparatuses, and methods for cost evaluation and motion planning for robotic devices are disclosed herein. According to at least one non-limiting exemplary embodiment, a method for producing and evaluating a continuous and differentiable total cost as a function of all available motion commands is disclosed and may be utilized in conjunction with a gradient descent to determine a minimum cost motion command corresponding to an optimal motion for a robotic device to execute in accordance with a target trajectory and obstacle avoidance.
Claims20
A method for navigating a robotic device along a target trajectory, comprising:
- evaluating a current state of the robotic device and environmental context using at least one sensor, the at least one sensor coupled to the robotic device;
- evaluating a total cost function as a function of all available motion commands based on the current state and the environmental context, the total cost being a summation of an environmental cost and a control cost for the all available motion commands;
- performing a gradient descent beginning with at least one initial value on the total cost function to evaluate at least one minima in the total cost function, wherein each of the at least one initial value comprises a motion command;
- determining a minimum cost motion command based on the total cost function and the lowest total cost of the at least one initial value;
- and
- executing the minimum cost motion command to effectuate movement of the robotic device along the target trajectory.
3 more elements
A robotic device comprising:
- a non-transitory computer readable storage medium comprising a plurality of computer readable instructions stored thereon;
- at least one controller configured to execute the computer readable instructions to:
- evaluate a current state of the robotic device and environmental context using at least one sensor coupled to the robotic device;
- evaluate a total cost function as a function of all available motion commands based on the current state and the environmental context, the total cost being a summation of a control cost and an environmental cost for the all available motion commands;
- perform a gradient descent beginning with at least one initial value on the total cost function to evaluate at least one minima in the total cost function, wherein each of the at least one initial value comprises a motion command;
- determine a minimum cost motion command based on the total cost function and the lowest total cost of the at least one initial value;
- and
- execute the minimum cost motion command to effectuate movement of the robotic device along a target trajectory.
5 more elements
A method for navigating a robotic device along a target trajectory, comprising:
- evaluating a current state of the robotic device and environmental context using at least one sensor, the at least one sensor being coupled to the robotic device;
- generating a kernelized footprint of the robotic device using at least one continuous and differentiable function;
- utilizing the kernelized footprint to generate a continuous differentiable environmental cost as a function of all available motion commands based on an area overlap between the kernelized footprint and environmental objects projected on a computer readable map during simulated execution of the all available motion commands;
- evaluating a total cost function, the total cost being a summation of the environmental cost and a control cost for the all available motion commands;
- utilizing at least one randomly selected motion command as at least one initial value on the total cost function;
- performing a gradient descent beginning at each of the at least one initial values to evaluate at least one minima in the total cost function;
- selecting the minimum cost motion command based on the lowest total cost of the at least on minima;
- imposing a collision threshold on a cost of the minimum cost motion command, the minimum cost motion command exceeding the collision threshold corresponds to no viable motion commands being available to the robotic device without collision with objects of the environment;
- and
- executing the minimum cost motion command to effectuate movement of the robotic device along the target trajectory if the minimum cost motion command comprises a total cost below the collision threshold.
7 more elements
A method for navigating a robotic device along a target trajectory, comprising:
- evaluating a current state of the robotic device and environmental context using at least one sensor, the at least one sensor being coupled to the robotic device;
- generating a kernelized footprint of the robotic device using at least one continuous and differentiable function;
- utilizing the kernelized footprint to generate a continuous differentiable environmental cost as a function of all available motion commands based on an area overlap between the kernelized footprint and environmental objects projected on a computer readable map during simulated execution of the all available motion commands;
- evaluating a total cost function as a function of all available motion commands based on the current state and the environmental context, the total cost being a summation of an environmental cost and a control cost for the all available motion commands;
- determining a minimum cost motion command based on the total cost function;
- and
- executing the minimum cost motion command to effectuate movement of the robotic device along the target trajectory.
4 more elements
A robotic device comprising:
- a non-transitory computer readable storage medium comprising a plurality of computer readable instructions stored thereon;
- at least one controller configured to execute the computer readable instructions to:
- evaluate a current state of the robotic device and environmental context using at least one sensor coupled to the robotic device;
- generate a kernelized footprint of the robotic device using at least one continuous and differentiable function;
- utilize the kernelized footprint to generate a continuous differentiable environmental cost as a function of the all available motion commands based on an area overlap between the kernelized footprint and environmental objects projected on a computer readable map during simulated execution of the all available motion commands;
- evaluate a total cost function as a function of all available motion commands based on the current state and the environmental context, the total cost being a summation of a control cost and an environmental cost for the all available motion commands;
- determine a minimum cost motion command based on the total cost function;
- and
- execute the minimum cost motion command to effectuate movement of the robotic device along a target trajectory.
6 more elements
Dependencies are inferred from the claim text.