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Systems and methods for obstacle avoidance

  • US 8,874,300 B2
  • Filed: 08/18/2011
  • Issued: 10/28/2014
  • Est. Priority Date: 10/21/2005
  • Status: Active Grant
First Claim
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1. A method for controlling a robotic vehicle using an obstacle map, the method comprising:

  • obtaining, by a processor, a first plurality of points, wherein each point represents at least part of an obstacle and a position of the obstacle at a particular time, wherein obtaining the first plurality of points includes three-dimensional, time-stamped obstacle data from a laser scanner;

    comparing, by the processor, the three-dimensional, time-stamped obstacle data to pre-set criteria to separate the three-dimensional, time-stamped obstacle data into relevant obstacle data and irrelevant obstacle data, wherein the irrelevant obstacle data is outside the pre-set criteria;

    discarding, by the processor, the irrelevant obstacle data;

    correlating, by the processor, the relevant obstacle data to a two-dimensional point cloud representing an index of a point array;

    filtering, by the processor, the two-dimensional point cloud in removing the relevant obstacle data having a position beyond a pre-set length from the robotic vehicle;

    generating, by the processor, a two-dimensional obstacle map based at least in part on the point array; and

    controlling, by the processor, the robotic vehicle based on the two-dimensional obstacle map.

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