US 11,701,778 B2
Systems and methods for robotic path planning
Oleg Sinyavskiy, San Diego, CA (US); Jean-Baptiste Passot, Solana Beach, CA (US); Borja Ibarz Gabardos, London (GB); and Diana Vu Le, San Diego, CA (US)
Assigned to Brain Corporation, San Diego, CA (US)
Filed by BRAIN CORPORATION, San Diego, CA (US)
Filed on Jan. 25, 2021, as Appl. No. 17/157,897.
Application 17/157,897 is a continuation of application No. 16/376,237, filed on Apr. 5, 2019, granted, now 10,899,008.
Application 16/376,237 is a continuation of application No. 15/474,816, filed on Mar. 30, 2017, granted, now 10,293,485, issued on May 21, 2019.
Prior Publication US 2021/0220995 A1, Jul. 22, 2021
Int. Cl. G05D 1/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); G05D 1/02 (2020.01); A47L 11/283 (2006.01); A47L 11/40 (2006.01); G01C 21/34 (2006.01); G01C 21/00 (2006.01)
CPC B25J 9/1666 (2013.01) [A47L 11/283 (2013.01); A47L 11/4008 (2013.01); A47L 11/4011 (2013.01); A47L 11/4061 (2013.01); A47L 11/4066 (2013.01); B25J 11/0085 (2013.01); G01C 21/3407 (2013.01); G01C 21/3804 (2020.08); G05D 1/0214 (2013.01); G05D 1/0217 (2013.01); G05D 1/0274 (2013.01); G05D 2201/0203 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for determining a trajectory of a robot, comprising:
generating, via a controller of the robot, a cost map corresponding to an environment, the cost map comprises a computer readable map of the environment produced using data from sensors coupled to the robot, wherein the cost map comprises a cost function as a function space to assign a cost for each pixel of the computer readable map, and the cost for each pixel is based at least in part on (i) presence of objects or lack thereof, and (ii) distance from a pre-determined route;
receiving, via the controller, a matrix comprising a plurality of pre-determined masks, each pre-determined mask of the plurality of pre-determined masks corresponding to an associated actuator command of the robot;
evaluating, via the controller, a cost for each pre-determined mask of the plurality of pre-determined masks based on the cost map;
identifying, via the controller, a pre-determined mask from the plurality of pre-determined masks, the pre-determined mask comprising the cost with a lowest value; and
executing the actuator command associated with the identified pre-determined mask of the lowest value.