DYNAMIC WINDOW APPROACH USING OPTIMAL RECIPROCAL COLLISION AVOIDANCE COST-CRITIC
A method and system for navigation of a robot along a goal path and avoiding obstacles. The method includes receiving goal pose for one or more robots and determining a goal path for a first robot while avoiding moving and fixed obstacles of a received obstacle map. A first objective function is eva...
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| creator | MOORE, THOMAS POWERS, BRADLEY |
| description | A method and system for navigation of a robot along a goal path and avoiding obstacles. The method includes receiving goal pose for one or more robots and determining a goal path for a first robot while avoiding moving and fixed obstacles of a received obstacle map. A first objective function is evaluated to select a preferred velocity from a generated set of candidate velocities, the selecting based on one or more weighted cost functions. A set of velocity obstacles created based on the poses of the one or more robots and the preferred velocity is used in evaluating a second objective function to determine the motion of the robot in the next time cycle. Creating the set of velocity objects includes converting the preferred velocity from a non-holonomic to a holonomic velocity.
Procédé et système pour la navigation d'un robot le long d'un chemin cible et l'évitement d'obstacles. Le procédé consiste à recevoir une pose cible pour un ou plusieurs robots et à déterminer un chemin cible pour un premier robot tout en évitant les obstacles mobiles et fixes d'une carte d'obstacles reçue. Une première fonction objective est évaluée pour sélectionner une vitesse préférée à partir d'un ensemble de vitesses candidates produit, la sélection étant basée sur une ou plusieurs fonctions de coût pondéré. Un ensemble d'obstacles de vitesse créé sur la base des poses du ou des robots et de la vitesse préférée est utilisé pour évaluer une seconde fonction objective pour déterminer le mouvement du robot dans le cycle temporel suivant. La création de l'ensemble d'objets de vitesse consiste à convertir la vitesse préférée d'une vitesse non holonome à une vitesse holonome. |
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Procédé et système pour la navigation d'un robot le long d'un chemin cible et l'évitement d'obstacles. Le procédé consiste à recevoir une pose cible pour un ou plusieurs robots et à déterminer un chemin cible pour un premier robot tout en évitant les obstacles mobiles et fixes d'une carte d'obstacles reçue. Une première fonction objective est évaluée pour sélectionner une vitesse préférée à partir d'un ensemble de vitesses candidates produit, la sélection étant basée sur une ou plusieurs fonctions de coût pondéré. Un ensemble d'obstacles de vitesse créé sur la base des poses du ou des robots et de la vitesse préférée est utilisé pour évaluer une seconde fonction objective pour déterminer le mouvement du robot dans le cycle temporel suivant. La création de l'ensemble d'objets de vitesse consiste à convertir la vitesse préférée d'une vitesse non holonome à une vitesse holonome.</description><language>eng ; fre</language><subject>CALCULATING ; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; COMPUTING ; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION ; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES ; CONTROLLING ; COUNTING ; DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FORADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORYOR FORECASTING PURPOSES ; GYROSCOPIC INSTRUMENTS ; HAND TOOLS ; MANIPULATORS ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PERFORMING OPERATIONS ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; PORTABLE POWER-DRIVEN TOOLS ; REGULATING ; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT ; SIGNALLING ; SURVEYING ; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE,COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTINGPURPOSES, NOT OTHERWISE PROVIDED FOR ; TESTING ; TRAFFIC CONTROL SYSTEMS ; TRANSPORTING ; VEHICLES IN GENERAL</subject><creationdate>2022</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20221018&DB=EPODOC&CC=CA&NR=3076498C$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76290</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20221018&DB=EPODOC&CC=CA&NR=3076498C$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>MOORE, THOMAS</creatorcontrib><creatorcontrib>POWERS, BRADLEY</creatorcontrib><title>DYNAMIC WINDOW APPROACH USING OPTIMAL RECIPROCAL COLLISION AVOIDANCE COST-CRITIC</title><description>A method and system for navigation of a robot along a goal path and avoiding obstacles. The method includes receiving goal pose for one or more robots and determining a goal path for a first robot while avoiding moving and fixed obstacles of a received obstacle map. A first objective function is evaluated to select a preferred velocity from a generated set of candidate velocities, the selecting based on one or more weighted cost functions. A set of velocity obstacles created based on the poses of the one or more robots and the preferred velocity is used in evaluating a second objective function to determine the motion of the robot in the next time cycle. Creating the set of velocity objects includes converting the preferred velocity from a non-holonomic to a holonomic velocity.
Procédé et système pour la navigation d'un robot le long d'un chemin cible et l'évitement d'obstacles. Le procédé consiste à recevoir une pose cible pour un ou plusieurs robots et à déterminer un chemin cible pour un premier robot tout en évitant les obstacles mobiles et fixes d'une carte d'obstacles reçue. Une première fonction objective est évaluée pour sélectionner une vitesse préférée à partir d'un ensemble de vitesses candidates produit, la sélection étant basée sur une ou plusieurs fonctions de coût pondéré. Un ensemble d'obstacles de vitesse créé sur la base des poses du ou des robots et de la vitesse préférée est utilisé pour évaluer une seconde fonction objective pour déterminer le mouvement du robot dans le cycle temporel suivant. La création de l'ensemble d'objets de vitesse consiste à convertir la vitesse préférée d'une vitesse non holonome à une vitesse holonome.</description><subject>CALCULATING</subject><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>COMPUTING</subject><subject>CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION</subject><subject>CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES</subject><subject>CONTROLLING</subject><subject>COUNTING</subject><subject>DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FORADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORYOR FORECASTING PURPOSES</subject><subject>GYROSCOPIC INSTRUMENTS</subject><subject>HAND TOOLS</subject><subject>MANIPULATORS</subject><subject>MEASURING</subject><subject>MEASURING DISTANCES, LEVELS OR BEARINGS</subject><subject>NAVIGATION</subject><subject>PERFORMING OPERATIONS</subject><subject>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</subject><subject>PHYSICS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>REGULATING</subject><subject>ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT</subject><subject>SIGNALLING</subject><subject>SURVEYING</subject><subject>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</subject><subject>SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE,COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTINGPURPOSES, NOT OTHERWISE PROVIDED FOR</subject><subject>TESTING</subject><subject>TRAFFIC CONTROL SYSTEMS</subject><subject>TRANSPORTING</subject><subject>VEHICLES IN GENERAL</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2022</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZAhwifRz9PV0Vgj39HPxD1dwDAgI8nd09lAIDfb0c1fwDwjx9HX0UQhydfYESjgDmc7-Pj6ewZ7-fgqOYf6eLo5-zq5AseAQXecgzxBPZx4G1rTEnOJUXijNzSDv5hri7KGbWpAfn1pckJicmpdaEu_saGxgbmZiaeFsTFgFANfMLmw</recordid><startdate>20221018</startdate><enddate>20221018</enddate><creator>MOORE, THOMAS</creator><creator>POWERS, BRADLEY</creator><scope>EVB</scope></search><sort><creationdate>20221018</creationdate><title>DYNAMIC WINDOW APPROACH USING OPTIMAL RECIPROCAL COLLISION AVOIDANCE COST-CRITIC</title><author>MOORE, THOMAS ; POWERS, BRADLEY</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CA3076498C3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng ; fre</language><creationdate>2022</creationdate><topic>CALCULATING</topic><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>COMPUTING</topic><topic>CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION</topic><topic>CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES</topic><topic>CONTROLLING</topic><topic>COUNTING</topic><topic>DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FORADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORYOR FORECASTING PURPOSES</topic><topic>GYROSCOPIC INSTRUMENTS</topic><topic>HAND TOOLS</topic><topic>MANIPULATORS</topic><topic>MEASURING</topic><topic>MEASURING DISTANCES, LEVELS OR BEARINGS</topic><topic>NAVIGATION</topic><topic>PERFORMING OPERATIONS</topic><topic>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</topic><topic>PHYSICS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>REGULATING</topic><topic>ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT</topic><topic>SIGNALLING</topic><topic>SURVEYING</topic><topic>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</topic><topic>SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE,COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTINGPURPOSES, NOT OTHERWISE PROVIDED FOR</topic><topic>TESTING</topic><topic>TRAFFIC CONTROL SYSTEMS</topic><topic>TRANSPORTING</topic><topic>VEHICLES IN GENERAL</topic><toplevel>online_resources</toplevel><creatorcontrib>MOORE, THOMAS</creatorcontrib><creatorcontrib>POWERS, BRADLEY</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>MOORE, THOMAS</au><au>POWERS, BRADLEY</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>DYNAMIC WINDOW APPROACH USING OPTIMAL RECIPROCAL COLLISION AVOIDANCE COST-CRITIC</title><date>2022-10-18</date><risdate>2022</risdate><abstract>A method and system for navigation of a robot along a goal path and avoiding obstacles. The method includes receiving goal pose for one or more robots and determining a goal path for a first robot while avoiding moving and fixed obstacles of a received obstacle map. A first objective function is evaluated to select a preferred velocity from a generated set of candidate velocities, the selecting based on one or more weighted cost functions. A set of velocity obstacles created based on the poses of the one or more robots and the preferred velocity is used in evaluating a second objective function to determine the motion of the robot in the next time cycle. Creating the set of velocity objects includes converting the preferred velocity from a non-holonomic to a holonomic velocity.
Procédé et système pour la navigation d'un robot le long d'un chemin cible et l'évitement d'obstacles. Le procédé consiste à recevoir une pose cible pour un ou plusieurs robots et à déterminer un chemin cible pour un premier robot tout en évitant les obstacles mobiles et fixes d'une carte d'obstacles reçue. Une première fonction objective est évaluée pour sélectionner une vitesse préférée à partir d'un ensemble de vitesses candidates produit, la sélection étant basée sur une ou plusieurs fonctions de coût pondéré. Un ensemble d'obstacles de vitesse créé sur la base des poses du ou des robots et de la vitesse préférée est utilisé pour évaluer une seconde fonction objective pour déterminer le mouvement du robot dans le cycle temporel suivant. La création de l'ensemble d'objets de vitesse consiste à convertir la vitesse préférée d'une vitesse non holonome à une vitesse holonome.</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | CALCULATING CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMPUTING CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES CONTROLLING COUNTING DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FORADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORYOR FORECASTING PURPOSES GYROSCOPIC INSTRUMENTS HAND TOOLS MANIPULATORS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PERFORMING OPERATIONS PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT SIGNALLING SURVEYING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE,COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTINGPURPOSES, NOT OTHERWISE PROVIDED FOR TESTING TRAFFIC CONTROL SYSTEMS TRANSPORTING VEHICLES IN GENERAL |
| title | DYNAMIC WINDOW APPROACH USING OPTIMAL RECIPROCAL COLLISION AVOIDANCE COST-CRITIC |
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