US 2026/0299597 A1 · METHOD AND APPARATUS FOR MOTION PLANNING FOR A ROBOT OPERATING IN A DYNAMIC ENVIRONMENT

Abstract

Disclosed methods and apparatuses address scenarios involving dynamic environments and where less than all of the interest space surrounding a robot is observed for purposes of planning the motion of the robot within the interest space, based on an advantageous use of an occupancy flow process that logically creates bounding regions of “near space” (NSp) between currently seen space (CSSp) and currently unseen space (CUSp). NSp creation may also apply with respect to regions within the CSSp that are detected as occupied. The occupancy flow process uses a deterministic and mathematical propagation of probabilities of occupancy, to create logical buffer zones where motion of the robot is constrained or prohibited, despite the most recent sensor data indicating that such zones were free of obstacles. Occupancy flow processing accounts for the fact that dynamic obstacles may intrude into or move within the CSSp before the next acquisition of sensor data.

Claims24

Dependent claims

A method of performing real-time motion planning for movement of a robot, the method comprising:

performing a sensor data capture in which occupancy of a first portion of the motion planning space is observed as currently seen space (CSSp), and a remaining, second portion of the motion planning space is unobserved as currently unseen space (CUSp);
performing an occupancy flow process to account for possible incursions of dynamic objects from the CUSp into unoccupied regions of the CSSp during a time lag between computation of an updated motion plan for the robot and corresponding incremental movement of the robot in accordance with the updated motion plan, the occupancy flow process creating one or more bounding regions of near space (NSp) at the expense of the CSSp, based on a mathematical propagation of probabilities of occupancy from the CUSp into the CSSp;
updating a motion planning policy that applies one or more differentiated motion-planning parameters that are differentiated as a function of the logical classifications of the motion planning space into CUSp, CSSp, and NSp;
and
computing the updated motion plan for the robot, based on the updated motion planning policy.

2 more elements

A computer apparatus configured to perform real-time motion planning for movement of a robot, the computer apparatus comprising:

interface circuitry;
and
processing circuitry configured to:
perform, via the interface circuitry, a sensor data capture in which occupancy of a first portion of the motion planning space is observed as currently seen space (CSSp), and a remaining, second portion of the motion planning space is unobserved as currently unseen space (CUSp);
perform an occupancy flow process to account for possible incursions of dynamic objects from the CUSp into unoccupied regions of the CSSp during a time lag between computation of an updated motion plan for the robot and corresponding incremental movement of the robot in accordance with the updated motion plan, the occupancy flow process creating one or more bounding regions of near space (NSp) at the expense of the CSSp, based on a mathematical propagation of probabilities of occupancy from the CUSp into the CSSp;
update a motion planning policy that applies one or more differentiated motion-planning parameters that are differentiated as a function of the logical classifications of the motion planning space into CUSp, CSSp, and NSp;
and
compute the updated motion plan for the robot, based on the updated motion planning policy.

5 more elements

Dependencies are inferred from the claim text.

Method and apparatus for motion planning for a robot operating in a dynamic environment

Life of this patent

Method and apparatus for motion planning for a robot operating in a dynamic environment

Life of this patent

Abstract

Claims24