US 11,951,629 B2
Systems, apparatuses, and methods for cost evaluation and motion planning for robotic devices
Oleg Sinyavskiy, San Diego, CA (US); Mark Ma, San Diego, CA (US); and Tiger Lin, San Diego, CA (US)
Assigned to Brain Corporation, San Diego, CA (US)
Filed by Brain Corporation, San Diego, CA (US)
Filed on Sep. 30, 2021, as Appl. No. 17/490,356.
Application 17/490,356 is a continuation of application No. PCT/US2020/026320, filed on Apr. 2, 2020.
Claims priority of provisional application 62/827,961, filed on Apr. 2, 2019.
Prior Publication US 2022/0016778 A1, Jan. 20, 2022
Int. Cl. B25J 9/16 (2006.01); G01C 21/34 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1671 (2013.01); G01C 21/3453 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for navigating a robotic device along a target trajectory, comprising:
evaluating a current state of the robotic device and environmental context using at least one sensor, the at least one sensor coupled to the robotic device;
evaluating a total cost function as a function of all available motion commands based on the current state and the environmental context, the total cost being a summation of an environmental cost and a control cost for the all available motion commands;
performing a gradient descent beginning with at least one initial value on the total cost function to evaluate at least one minima in the total cost function, wherein each of the at least one initial value comprises a motion command;
determining a minimum cost motion command based on the total cost function and the lowest total cost of the at least one initial value; and
executing the minimum cost motion command to effectuate movement of the robotic device along the target trajectory.