Motion planning
AssigneeNVIDIA Corporation
InventorDavid Nister
Life of this patent
Estimating the term…
Abstract
Costs associated with configurations corresponding to a maneuver type(s) may be stored in a transition state(s) volume. The same memory volume may be used for storing cost values that correspond different maneuver types and different vertices in a graph of a configuration space. In at least one embodiment, to share a memory volume between maneuver types, the system may determine a cost for a machine to reach a configuration of a configuration space using various different maneuver types. The system may then evaluate one or more of the costs to determine which of the costs to store at one or more memory location(s) corresponding to the configuration (e.g., a point in a memory volume). Cost values for the memory volume may be efficiently determined using kernel-style processing.
Claims20
A method comprising:
- comparing one or more first cost values of a machine arriving at a configuration from within a configuration space using a first maneuver type of maneuver types to one or more second cost values of the machine arriving at the configuration from within the configuration space using a second maneuver type of the maneuver types;
- based at least on the comparing, overwriting the one or more second cost values with the one or more first cost values in a storage location that corresponds to the configuration in storage locations of a memory volume, the storage locations respectively corresponding to configurations of a discretized subset of the configuration space in which the machine is in a transition state between at least two of the maneuver types;
- determining one or more paths through the configuration space using the one or more first cost values;
- and
- performing one or more control operations associated with the machine based at least on the one or more paths.
A system comprising:
- one or more processors to perform operations including:
- determining cost values for a configuration in a configuration space using maneuver types, each cost value from the cost values corresponding to a respective maneuver type of the maneuver types being used by a machine to reach the configuration from within the configuration space;
- selecting a first cost value of the cost values for storage in a storage location that corresponds to the configuration in storage locations respectively corresponding to configurations of a discretized subset of the configuration space in which the machine is in a transition state between at least two of the maneuver types;
- based at least on the selecting, overwriting, in the storage location, a second cost value of the cost values;
- determining one or more paths through the configuration space using the first cost value;
- and
- performing one or more control operations associated with the machine based at least on the one or more paths.
At least one processor comprising:
- one or more circuits to perform one or more control operations associated with a machine using one or more paths corresponding to a first cost value associated with reaching a configuration of a configuration space using a first maneuver type of maneuver types, the first cost value being stored by overwriting a second cost value associated with reaching the configuration using a second maneuver type of the maneuver types in a storage location that corresponds to the configuration in storage locations respectively corresponding to configurations of a discretized subset of the configuration space in which the machine is in a transition state between at least two of the maneuver types.
Dependencies are inferred from the claim text.