Method and device for deterministic sampling-based motion planning
AssigneeRobert Bosch GmbH
InventorsLeonard Bruns, Kai Oliver Arras, Luigi Palmieri
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Abstract
A computer-implemented method for planning an optimized motion path. The optimized motion path is determined applying a sampling-based motion-planning algorithm depending on a sample node set including sample nodes. The sample nodes in the sample node set are deterministically selected from a configuration node set including all obstacle free nodes. The sample nodes are selected to optimize a given dispersion criterion. The dispersion criterion selects the sample nodes so that the largest uncovered area/space within the configuration node set is as small as possible.
Claims10
A computer-implemented method for planning an optimized motion path, the method comprising the following steps:
- determining the optimized motion path is determined applying a sampling-based motion-planning algorithm depending on a sample node set including sample nodes, wherein the sample nodes in the sample node set are deterministically selected from a configuration node set including all obstacle free nodes, and the sample nodes are selected to optimize a given dispersion criterion, wherein the dispersion criterion selects the sample nodes so that a largest uncovered area/space within the configuration node set is minimized.
A method for operating an agent, comprising the following steps:
- determining an optimized motion path is determined applying a sampling-based motion-planning algorithm depending on a sample node set including sample nodes, wherein the sample nodes in the sample node set are deterministically selected from a configuration node set including all obstacle free nodes, and the sample nodes are selected to optimize a given dispersion criterion, wherein the dispersion criterion selects the sample nodes so that a largest uncovered area/space within the configuration node set is minimized;
- and
- operating the agent using the optimized motion path.
A device for planning an optimized motion path, wherein the device is configured to:
- determine the optimized motion path applying a sampling-based motion-planning algorithm depending on a sample node set including sample nodes, wherein the sample nodes in the sample node set are deterministically selected from a configuration node set including all obstacle free nodes;
- and
- select the sample nodes by optimizing a dispersion criterion, wherein the dispersion criterion selects the sample nodes so that a largest uncovered area/space within the configuration node set is minimized.
A non-transitory computer readable medium on which is stored a computer program for planning an optimized motion path, the computer program, when executed by a computer, causing the computer to perform the following steps:
- determining the optimized motion path is determined applying a sampling-based motion-planning algorithm depending on a sample node set including sample nodes, wherein the sample nodes in the sample node set are deterministically selected from a configuration node set including all obstacle free nodes, and the sample nodes are selected to optimize a given dispersion criterion, wherein the dispersion criterion selects the sample nodes so that a largest uncovered area/space within the configuration node set is minimized.
Dependencies are inferred from the claim text.