US 12,291,846 B2
Autonomous offroad vehicle path planning with collision avoidance
Noah Austen Ready-Campbell, San Francisco, CA (US); Martin Karlsson, Lund (SE); and Brian Lerner, Boca Raton, FL (US)
Assigned to Built Robotics Inc., San Francisco, CA (US)
Filed by Built Robotics Inc., San Francisco, CA (US)
Filed on Jun. 11, 2024, as Appl. No. 18/740,441.
Application 18/740,441 is a continuation of application No. 18/343,753, filed on Jun. 29, 2023, granted, now 12,037,769.
Prior Publication US 2025/0003189 A1, Jan. 2, 2025
This patent is subject to a terminal disclaimer.
Int. Cl. E02F 9/20 (2006.01); G05D 1/00 (2024.01)
CPC E02F 9/2045 (2013.01) [E02F 9/205 (2013.01); G05D 1/0214 (2013.01); G05D 1/0274 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
generating, for each of a plurality of combinations of orientation and joint state of a robot, a footprint of the robot within a cell grid representative of a geographic area, wherein the footprint comprises a plurality of cells within the cell grid corresponding to a portion of the geographic area occupied by a simulated robot at a particular orientation and arm position;
generating a planned path for the robot to traverse within the geographic area; and
during a simulation of a traversal of the planned path by a simulated robot, identifying path conflicts based on the generated footprints of the simulated robot corresponding to an orientation and arm position of the simulated robot at each location along the planned path.