Control System And Method For Robotic Motion Planning And Control
First Claim
1. A robotic system comprising:
- a robotic vehicle having a propulsion system configured to propel the robotic vehicle;
one or more sensors configured to be disposed onboard the robotic vehicle and to obtain image data representative of an external environment; and
a controller configured to be disposed onboard the robotic vehicle and to determine a waypoint for the robotic vehicle to move toward, the waypoint located between a current location of the robotic vehicle and a final destination of the robotic vehicle, the controller also configured to determine limitations on movement of the robotic vehicle toward the waypoint, wherein the limitations are based on the image data, and wherein the controller is configured to control the propulsion system to move the robotic vehicle to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects,wherein the controller also is configured to determine one or more additional waypoints subsequent to the robotic vehicle reaching the waypoint, determine one or more additional limitations on the movement of the robotic vehicle toward each of the respective additional waypoints, and control the propulsion system of the robotic vehicle to sequentially move the robotic vehicle to the one or more additional waypoints.
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Accused Products
Abstract
A robotic system includes a robotic vehicle having a propulsion system, one or more sensors that image data representative of an external environment, and a controller that determines a waypoint for the robotic vehicle to move toward. The controller determines limitations on movement of the robotic vehicle toward a waypoint. The limitations are based on the image data. The controller controls the propulsion system to move the robotic vehicle to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects. The controller determines one or more additional waypoints subsequent to the robotic vehicle reaching the waypoint, determines one or more additional limitations on the movement of the robotic vehicle toward each of the respective additional waypoints, and control the propulsion system of the robotic vehicle to sequentially move the robotic vehicle to the one or more additional waypoints.
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Citations
20 Claims
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1. A robotic system comprising:
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a robotic vehicle having a propulsion system configured to propel the robotic vehicle; one or more sensors configured to be disposed onboard the robotic vehicle and to obtain image data representative of an external environment; and a controller configured to be disposed onboard the robotic vehicle and to determine a waypoint for the robotic vehicle to move toward, the waypoint located between a current location of the robotic vehicle and a final destination of the robotic vehicle, the controller also configured to determine limitations on movement of the robotic vehicle toward the waypoint, wherein the limitations are based on the image data, and wherein the controller is configured to control the propulsion system to move the robotic vehicle to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects, wherein the controller also is configured to determine one or more additional waypoints subsequent to the robotic vehicle reaching the waypoint, determine one or more additional limitations on the movement of the robotic vehicle toward each of the respective additional waypoints, and control the propulsion system of the robotic vehicle to sequentially move the robotic vehicle to the one or more additional waypoints. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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obtaining image data representative of an environment external to a robotic system; determining a waypoint for the robotic system to move toward, the waypoint located between a current location of the robotic system and a final destination of the robotic system; determining limitations on movement of the robotic system toward the waypoint, wherein the limitations are based on the image data; controlling a propulsion system of the robotic system to move the robotic system to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects; determining one or more additional waypoints subsequent to the robotic system reaching the waypoint; determining one or more additional limitations on the movement of the robotic system toward each of the respective additional waypoints; and controlling the propulsion system of the robotic system to sequentially move the robotic system to the one or more additional waypoints. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A robotic system comprising:
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a robotic vehicle having a propulsion system configured to propel the robotic vehicle; one or more structured light sensors configured to be disposed onboard the robotic vehicle and to obtain point cloud data representative of an external environment; and a controller configured to be disposed onboard the robotic vehicle and to determine a waypoint for the robotic vehicle to move toward, the waypoint located between a current location of the robotic vehicle and a brake lever of a vehicle, the controller also configured to determine limitations on movement of the robotic vehicle toward the waypoint, wherein the limitations are based on the point cloud data, and wherein the controller is configured to control the propulsion system to move the robotic vehicle to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification