Systems and methods for dynamic route planning in autonomous navigation

A method for dynamic navigation of a robot in an environment, comprising:

• generating a map of the environment using data from one or more sensors;
• determining a route on the map, the route including one or more route poses, each route pose comprising a footprint indicative at least in part of a pose and a shape of the robot along the route and each route pose having a plurality of points disposed therein;
• computing repulsive forces from a point on an object in the environment onto the plurality of points of a first route pose of the one or more route poses;
• repositioning the first route pose in response to at least the repulsive forces;
• and
• performing an interpolation between the repositioned first route pose and another of the one or more route poses.

A non-transitory computer-readable storage apparatus having a plurality of instructions stored thereon, the instructions being executable by a processing apparatus to operate a robot, the instructions configured to, when executed by the processing apparatus, cause the processing apparatus to:

• generate a map of an environment using data from one or more sensors;
• determine a route on the map, the route comprising one or more route poses, each route pose comprising a footprint indicative at least in part of a pose and a shape of the robot along the route and each route pose having a plurality of points disposed therein;
• and
• compute repulsive forces from a point on an object in the environment onto the plurality of points of a first route pose of the one or more route poses.