US 12,345,024 B2
Hierarchical planning for autonomous machinery on various tasks
Liyang Wang, Sunnyvale, CA (US); Zhixian Ye, Santa Clara, CA (US); and Liangjun Zhang, Cupertino, CA (US)
Assigned to Baidu USA LLC, Sunnyvale, CA (US)
Filed by Baidu USA, LLC, Sunnyvale, CA (US)
Filed on Aug. 2, 2022, as Appl. No. 17/879,278.
Claims priority of provisional application 63/233,194, filed on Aug. 13, 2021.
Prior Publication US 2023/0053964 A1, Feb. 23, 2023
Int. Cl. E02F 9/26 (2006.01); B60W 20/11 (2016.01); B60W 20/12 (2016.01); B60W 20/15 (2016.01); B60W 30/095 (2012.01); B60W 50/00 (2006.01)
CPC E02F 9/265 (2013.01) [B60W 20/11 (2016.01); B60W 20/12 (2016.01); B60W 20/15 (2016.01); B60W 30/095 (2013.01); B60W 2050/0028 (2013.01); B60W 2050/0037 (2013.01); B60W 2300/17 (2013.01); B60W 2556/35 (2020.02)] 20 Claims
OG exemplary drawing
 
10. A system comprising:
one or more processors; and
a non-transitory computer-readable medium or media comprising one or more sets of instructions which, when executed by at least one of the one or more processors, causes steps to be performed comprising:
receiving, from a user, a task for an excavator and associated task parameter values;
given the task, the associated task parameter values, at least some of perception-related data received from a perception module, using a high-level task planner module comprising one or more rules-based models to divide the task into one or more base move sub-tasks and one or more material removal sub-tasks, wherein the one or more base move sub-tasks comprise a sequence of route points and the one or more material removal sub-tasks comprise a sequence of sub-task regions and a goal for each sub-task region;
given the sequence of route points and states information wherein at least some of the states information is obtained from the perception module, using a base move sub-task planner that comprises one or more models to generate a set of one or more waypoints between consecutive pairs of route points to guide the excavator between route points;
given the sequence of sub-task regions, associated goals, and states information wherein at least some of the states information is obtained from the perception module, using a material removal sub-task planner comprising one or more planner models to determine motion primitives and related parameter values for each sub-task region to accomplish the goal for that sub-task region;
using the motion primitives, related parameters, excavator parameters, and perception module data as inputs to a joint move primitive module to generate joint trajectories and using waypoints, excavator parameters, and perception module data as inputs to a base move primitive module to generate base trajectories; and
providing the joint trajectories and base trajectories to joint controller module(s) and base controller module(s), respectively, to generate controller commands to control devices of the excavator.