US 12,442,640 B2
Intermediate waypoint generator
Gina Christine Fay, Lexington, MA (US); and Alfred Rizzi, Cambridge, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Aug. 25, 2023, as Appl. No. 18/456,349.
Application 18/456,349 is a continuation of application No. 17/649,620, filed on Feb. 1, 2022, granted, now 11,774,247.
Application 17/649,620 is a continuation of application No. 16/569,885, filed on Sep. 13, 2019, granted, now 11,268,816, issued on Mar. 8, 2022.
Claims priority of provisional application 62/883,438, filed on Aug. 6, 2019.
Prior Publication US 2023/0400307 A1, Dec. 14, 2023
Int. Cl. G01C 21/20 (2006.01); G05D 1/00 (2006.01)
CPC G01C 21/20 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0214 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
receiving, at data processing hardware of a robot, a navigation route that is based on one or more locations of one or more obstacles in an environment of the robot, the navigation route comprising a first waypoint and a second waypoint;
receiving, at the data processing hardware, from an image sensor, image data associated with the environment;
determining, by the data processing hardware, a plurality of paths from the first waypoint to the second waypoint based on the image data;
selecting, by the data processing hardware, a path from the plurality of paths, the path comprising at least one intermediate waypoint between the first waypoint and the second waypoint, wherein the at least one intermediate waypoint and at least one of the first waypoint or the second waypoint are generated using different data; and
instructing, by the data processing hardware, navigation of the robot from a starting location to a destination location in the environment via the first waypoint, the at least one intermediate waypoint, and the second waypoint.