Navigation using planned robot travel paths

A method for navigating a robot in an environment from a current location to a destination, the environment including at least one fixed object and at least one other robot, the method comprising:

• Obtaining an image of the environment, the image defined by a plurality of pixels, each pixel having a cost value associated with it;
• wherein the image of the environment includes an image of the at least one fixed object comprising a set of pixels corresponding to the location of the at least one fixed object in the environment, the set of pixels corresponding to the location of the at least one fixed object having a first defined cost value;
• Obtaining an image of the at least one other robot in the environment, the image of the at least one other robot including a first set of pixels corresponding to the location of the at least one other robot in the environment and a second set of pixels adjacent to the first set of pixels and extending along a planned path of travel of the at least one other robot toward a destination;
• the pixels in the first set of pixels of the at least one other robot having the first defined cost value and the second set of pixels of the at least one other robot comprising pixels having a second defined cost value;
• wherein the second defined cost value is less than the first defined cost value;
• and
• Planning a path from the current location of the robot to the destination of the robot based on the image of the at least one fixed object and the image of the at least one other robot.

A robot configured to navigate an environment, the environment including at least one fixed object and a plurality of other robots, the robot comprising:

• A mobile base for propelling the robot throughout the environment;
• A communication device enabling communication between the robot and the plurality of other robots;
• and
• A processor, in communication with the communication device, configured to:
• Obtain an image of the environment, the image defined by a plurality of pixels, each pixel having a cost value associated with it;
• wherein the image of the environment includes an image of the at least one fixed object comprising a set of pixels corresponding to the location of the at least one fixed object in the environment, the set of pixels corresponding to the location of the at least one fixed object having a first defined cost value;
• Obtaining an image of the plurality of other robots in the environment, the image including for each robot a first set of pixels corresponding to the location of each robot in the environment and a second set of pixels adjacent to the first set of pixels and extending along a planned path of travel of each other robot toward a destination;
• the pixels in the first set of pixels of each other robot having the first defined cost value and the second set of pixels of each other robot comprising pixels having a second defined cost value;
• wherein the second defined cost value is less than the first defined cost value;
• and
• Planning a path from the current location of the robot to the destination of the robot based on the image of the at least one fixed object and the images of the plurality of other robots.