Hybrid motion planning for robotic devices
AssigneeBlue Origin, LLC
InventorSherif Ahmed Shazly
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Abstract
An improved robotic device motion planning system that is capable of producing motion plans for accomplishing a task that are deterministic and at a higher success rate than typical systems is described herein. For example, the improved robotic device motion planning system may implement a hybrid motion planning approach in which the robotic device motion planning system initially attempts to develop a motion plan for a robotic device using a real-time motion planning algorithm. If the robotic device motion planning system is unable to develop a motion plan using a real-time motion planning algorithm, then the robotic device motion planning system may attempt to develop the motion plan using a sampling method.
Claims20
A system for generating a motion policy for a robotic device, the system comprising:
- memory that stores computer-executable instructions;
- and
- a processor in communication with the memory, wherein the computer-executable instructions, when executed by the processor, cause the processor to:
- process a request to move a subcomponent of the robotic device to a target position;
- obtain sensor data from the robotic device;
- determine one or more subtasks for moving the subcomponent of the robotic device to the target position using the sensor data;
- generate a directed tree using the determined one or more subtasks;
- traverse the directed tree recursively to generate a global configuration space policy;
- determine that the global configuration space policy, when implemented, results in the subcomponent of the robotic device reaching an equilibrium state at a second position that is at least a threshold distance from the target position;
- generate a randomized motion policy in response to the determination that the global configuration space policy results in the subcomponent of the robotic device reaching the equilibrium state at the second position;
- and
- cause the robotic device to move the subcomponent of the robotic device to the target position according to the randomized motion policy.
A computer-implemented method for generating a motion policy for a robotic device, the computer-implemented method comprising:
- receiving a request to move a subcomponent of the robotic device to a target position;
- determining one or more subtasks for moving the subcomponent of the robotic device to the target position;
- generating a directed tree using the determined one or more subtasks;
- traversing the directed tree recursively to generate a global configuration space policy;
- determining that the global configuration space policy, when implemented, results in the subcomponent of the robotic device reaching an equilibrium state at a second position that is at least a threshold distance from the target position;
- generating a randomized motion policy in response to the determination that the global configuration space policy results in the subcomponent of the robotic device reaching the equilibrium state at the second position;
- and
- causing the robotic device to move the subcomponent of the robotic device to the target position according to the randomized motion policy.
A non-transitory, computer-readable medium comprising computer-executable instructions for generating a motion policy for a robotic device, wherein the computer-executable instructions, when executed by a computer system, cause the computer system to:
- process a request to move a subcomponent of the robotic device to a target position;
- generate a directed tree based on the request;
- traverse the directed tree recursively to generate a global configuration space policy;
- determine that the global configuration space policy, when implemented, results in the subcomponent of the robotic device reaching an equilibrium state at a second position that is at least a threshold distance from the target position;
- generate a randomized motion policy in response to the determination that the global configuration space policy results in the subcomponent of the robotic device reaching the equilibrium state at the second position;
- and
- cause the robotic device to move the subcomponent of the robotic device to the target position according to the randomized motion policy.
Dependencies are inferred from the claim text.