US 12,358,528 B2
Producing a trajectory from a diverse set of possible movements
Daniele Molinari, Redwood City, CA (US); Ryan J. Marcotte, Ann Arbor, MI (US); Harsh Virendra Pandya, Sunnyvale, CA (US); and Constantin Franziskus Dominik Hubmann, Menlo Park, CA (US)
Assigned to Toyota Research Institute, Inc., Los Altos, CA (US); and Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US)
Filed on Apr. 26, 2022, as Appl. No. 17/729,637.
Prior Publication US 2023/0339503 A1, Oct. 26, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01)
CPC B60W 60/0011 (2020.02) [B60W 40/04 (2013.01); B60W 60/00274 (2020.02); B60W 2552/53 (2020.02); B60W 2554/20 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/80 (2020.02)] 21 Claims
OG exemplary drawing
 
1. A system for producing a trajectory from a diverse set of possible movements, comprising:
a mobile robot configured to move in response to a receipt of a control signal;
a processor; and
a memory storing:
a possible movement production module including instruction that, when executed by the processor, cause the processor to:
produce a set of possible movements of the mobile robot with respect to a challenge, wherein each possible movement, of the set of possible movements, lacks information about a discretized representation about a sequence of points, per unit of time or unit of space, along a possible path of travel of the mobile robot;
determine a measure of diversity between a value of a specific parameter of a first possible movement and a value of the specific parameter of a second possible movement; and
produce a subset, measures of diversity associated with possible movements included in the subset being larger than measures of diversity associated with possible movements excluded from the subset, wherein a count of the possible movements included in the subset is less than or equal to a threshold; and
a trajectory production module including instruction that, when executed by the processor, cause the processor to:
produce trajectories associated with the possible movements included in the subset so that a production of the trajectories is completed before a time at which a commencement of a movement is needed, wherein a trajectory, of the trajectories, includes the information about the discretized representation about the sequence of points along the possible path of travel; and
cause the control signal to be sent to the mobile robot to move according to a trajectory, of the trajectories, that optimizes a relationship between the mobile robot and the challenge.