Dynamic probabilistic motion planning

Techniques and systems are disclosed for using swept volume profile data cached in association with a PRM to improve various aspects of motion planning for a robot. In some implementations, a first probabilistic road map representing possible paths to be travelled by a robot within a physical area i...

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Bibliographische Detailangaben
Hauptverfasser:	Hemmer, Michael, Go, Keegan, Dupuis, Jean-Francois
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMPUTING CONTROLLING COUNTING ELECTRIC DIGITAL DATA PROCESSING HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRANSPORTING
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Beschreibung
Zusammenfassung:	Techniques and systems are disclosed for using swept volume profile data cached in association with a PRM to improve various aspects of motion planning for a robot. In some implementations, a first probabilistic road map representing possible paths to be travelled by a robot within a physical area is generated. An initial path for the robot within the first probabilistic road map is determined. Data indicating a second probabilistic road map representing a path to be travelled by a movable object within the physical area is obtained. A potential obstruction associated with one or more edges included in the subset of edges is detected. An adjusted path for the robot within the first probabilistic road map is then determined based on the potential obstruction.