US 12,325,136 B2
Deterministic robot path planning method for obstacle avoidance
Yuanfeng Mao, Mt Laurel, NJ (US); Guo-Qing Wei, Plainsboro, NJ (US); Firdous Saleheen, Lawrenceville, NJ (US); Li Fan, Belle Mead, NJ (US); Xiaolan Zeng, Princeton, NJ (US); and Jianzhong Qian, Princeton Junction, NJ (US)
Assigned to EDDA TECHNOLOGY, INC., Princeton, NJ (US)
Filed by EDDA TECHNOLOGY, INC., Princeton, NJ (US)
Filed on Nov. 18, 2022, as Appl. No. 17/990,037.
Application 17/990,037 is a continuation of application No. 16/692,246, filed on Nov. 22, 2019, granted, now 11,504,849.
Prior Publication US 2023/0077638 A1, Mar. 16, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/163 (2013.01); B25J 9/1671 (2013.01); G05B 2219/40371 (2013.01); G05B 2219/40476 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
obtaining, via at least one sensor, a current pose of a multi-joint robotic arm;
calculating, via at least one processor, a minimum distance permitted between the multi-joint robotic arm and at least one obstacle identified between the current pose and a target;
calculating, via the at least one processor, a weighting factor, the weighting factor defining a relationship between a joint angle cost of joints within the multi-joint robotic arm and an obstacle-distance cost,
wherein the weighting factor is iteratively learned over a predetermined number of iterations by minimizing a cost function over a plurality of iterations using, for each iteration, a random desired position of an end-effector of the multi-joint robotic arm;
computing, via the at least one processor, a trajectory from the current pose to the target by minimizing the cost function using the weighting factor; and
initiating, via the at least one processor, movement of the multi-joint robotic arm along the trajectory.