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Control System And Method For Robotic Motion Planning And Control

  • US 20170341235A1
  • Filed: 09/30/2016
  • Published: 11/30/2017
  • Est. Priority Date: 05/27/2016
  • Status: Abandoned Application
First Claim
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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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