Conflict detection and avoidance along a current route of a robot

A method of detecting and avoiding conflict along a current route of a robot, the method comprising:

• accessing a trajectory of the robot on the current route of the robot, and a predicted trajectory of a nearby moving object;
• detecting a conflict between the robot and the nearby moving object from a comparison of the robot on the trajectory of the robot on the current route and the nearby moving object on the predicted trajectory of the nearby moving object;
• determining alternate routes for the robot, each of the alternate routes including an alternative route segment having a predetermined geometric offset from the current route such that the alternative route segment of the alternate routes is spaced apart from the current route, and a transition segment connects the current route to the respective alternative route segment of the alternate routes;
• evaluating routes including the alternate routes according to a cost metric that depends on a time or distance to a point of approach between the nearby moving object and the robot, and a distance from the current route;
• and
• selecting a route from the routes for use in at least one of guidance, navigation or control of the robot to avoid the conflict;
• causing the robot to travel the route as selected.

A computer-readable storage medium for detecting and avoiding conflict along a current route of a robot, the computer-readable storage medium being non-transitory and having computer-readable program code stored therein that, in response to execution by processing circuitry, causes an apparatus to at least:

• access a trajectory of the robot on the current route of the robot, and a predicted trajectory of a nearby moving object;
• detect a conflict between the robot and the nearby moving object from a comparison of the robot on the trajectory of the robot on the current route and the nearby moving object on the predicted trajectory of the nearby moving object;
• determine alternate routes for the robot, each of the alternate routes including an alternative route segment having a predefined geometric offset from the current route such that the alternative route segment of the alternate routes is spaced apart from the current route, and a transition segment disposed between the current route and the respective alternative route segment of the alternate routes such that the transition segment connects the current route to the respective alternative route segment of the alternate routes;
• evaluate routes including the alternate routes according to a cost metric that depends on a time or distance to a point of approach between the nearby moving object and the robot, and a distance from the current route;
• and
• select a route from the routes for use in at least one of guidance, navigation or control of the robot to avoid the conflict;
• wherein the computer-readable storage medium has further computer-readable program code stored therein that, in response to execution by the processing circuitry, causes the apparatus to further cause the robot to travel the route as selected.