EP 4157589 A1 20230405 - A ROBOT PATH PLANNING METHOD WITH STATIC AND DYNAMIC COLLISION AVOIDANCE IN AN UNCERTAIN ENVIRONMENT
Title (en)
A ROBOT PATH PLANNING METHOD WITH STATIC AND DYNAMIC COLLISION AVOIDANCE IN AN UNCERTAIN ENVIRONMENT
Title (de)
VERFAHREN ZUR ROBOTERPFADPLANUNG MIT STATISCHER UND DYNAMISCHER KOLLISIONSVERMEIDUNG IN UNSICHERER UMGEBUNG
Title (fr)
PROCÉDÉ DE PLANIFICATION DE TRAJET DE ROBOT AVEC ÉVITEMENT DE COLLISION STATIQUE ET DYNAMIQUE DANS UN ENVIRONNEMENT INCERTAIN
Publication
Application
Priority
US 2020034493 W 20200526
Abstract (en)
[origin: WO2021242215A1] The present disclosure relates to robot path planning. Depth information of a plurality of obstacles in an environment of a robot are obtained at a first time instance. A static distance map is generated based on the depth information. A path is computed for the robot based on the static distance map. At a second time instant, depth information of one or more obstacles is obtained. A dynamic distance map is generated based on the one or more obstacles, wherein for each obstacle that satisfies a condition: a vibration range of the obstacle is computed based on a position of the obstacle and the static distance map, and the obstacle is classified as a dynamic obstacle or a static obstacle based on a criterion associated with the vibration range. A repulsive speed of the robot is computed based on the dynamic distance map to avoid the dynamic obstacles.
IPC 8 full level
B25J 5/00 (2006.01); B25J 5/02 (2006.01); B25J 5/04 (2006.01); G05D 1/02 (2006.01); G05D 1/04 (2006.01)
CPC (source: EP)
B25J 9/1666 (2013.01); G05D 1/0088 (2024.01); G05B 2219/35148 (2013.01); G05B 2219/37425 (2013.01); G05B 2219/40447 (2013.01); G05B 2219/40474 (2013.01); G05B 2219/40475 (2013.01)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
Designated validation state (EPC)
KH MA MD TN
DOCDB simple family (publication)
WO 2021242215 A1 20211202; CN 114072254 A 20220218; EP 4157589 A1 20230405; EP 4157589 A4 20240228
DOCDB simple family (application)
US 2020034493 W 20200526; CN 202080041809 A 20200526; EP 20937802 A 20200526