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 |
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.
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