Method and apparatus of simulating movement of an autonomous entity through an environment
First Claim
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1. A method of simulating movement of an autonomous entity through an environment, the method comprising:
- providing a provisional path through a model of the environment from a current location to an intended destination;
providing a profile for said autonomous entity;
determining a preferred step towards said intended destination based upon cost of a step, said profile and said provisional path;
determining a personal space around said autonomous entity;
determining whether said preferred step is feasible by considering whether obstructions infringe said personal space; and
recording a feasible preferred step so as to allow movement of said autonomous entity to be determined.
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Abstract
A method of simulating movement of an autonomous entity through an environment, the method comprising providing a provisional path through a model of the environment from a current location to an intended destination, providing a profile for said autonomous entity, determining a preferred step towards said intended destination based upon said profile and said provisional path, determining a personal space around said autonomous entity and determining whether said preferred step is feasible by considering whether obstructions infringe said personal space.
27 Citations
39 Claims
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1. A method of simulating movement of an autonomous entity through an environment, the method comprising:
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providing a provisional path through a model of the environment from a current location to an intended destination; providing a profile for said autonomous entity; determining a preferred step towards said intended destination based upon cost of a step, said profile and said provisional path; determining a personal space around said autonomous entity; determining whether said preferred step is feasible by considering whether obstructions infringe said personal space; and recording a feasible preferred step so as to allow movement of said autonomous entity to be determined. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A computer-readable medium storing a computer program for performing a method of simulating movement of an autonomous entity through an environment, the method comprising:
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providing a provisional path through a model of the environment from a current location to an intended destination; providing a profile for said autonomous entity; determining a preferred step towards said intended destination based upon cost of a step, said profile and said provisional path; determining a personal space around said autonomous entity; determining whether said preferred step is feasible by considering whether obstructions infringe said personal space; and recording a feasible preferred step so as to allow movement of said autonomous entity to be determined.
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32. Apparatus for simulating movement of an autonomous entity through an environment, the apparatus comprising:
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an interface that provides a provisional path through a model of the environment from a current location to an intended destination and that provides profile for said autonomous entity; and one or more processors that determines a preferred step towards said intended destination based upon cost of a step, said profile and said provisional path, that determines a personal space around said autonomous entity, and that determines whether said preferred step is feasible by considering whether obstructions infringe said personal space; and a memory that records a feasible preferred step so as to allow movement of said autonomous entity to be determined.
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33. A method of simulating movement of an autonomous entity through an environment, the method comprising:
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providing a preferred clearance tolerance for said autonomous entity; determining a density of neighbouring entities; determining a personal space around said autonomous entity in dependence upon said preferred clearance tolerance and said density of neighbouring entities; and recording said personal space so as to allow movement of said autonomous entity to be determined.
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34. A method of simulating movement of an autonomous entity through an environment, the method comprising:
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providing a preferred clearance tolerance for said autonomous entity; providing information relating to velocity of said entity; determining a personal space around said autonomous entity in dependence upon said preferred clearance tolerance; determining an angular dependency for said personal space in dependence upon said velocity; and recording said personal space so as to allow movement of said autonomous entity to be determined.
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35. A method of designing a building structure, the method comprising:
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providing a model of said building structure; simulating movement of at least one autonomous entity through said building structure, the simulating of said movement of said at least one autonomous entity comprising providing a provisional path through a model of the environment from a current location to an intended destination, providing a profile for said at least one autonomous entity, determining a preferred step towards said intended destination based upon cost of a step, said profile and said provisional path, determining a personal space around said at least one autonomous entity and determining whether said preferred step is feasible by considering whether obstructions infringe said personal space; and revising said model of said building structure in dependence upon movement of said at least one autonomous entity.
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36. A method of controlling movement of an autonomous entity through an environment, the method comprising:
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providing a provisional path through a model of the environment from a current location to an intended destination; providing a profile for said autonomous entity; determining a preferred step towards said intended destination based upon cost of a step, said profile and said provisional path; determining a personal space around said autonomous entity; determining whether said preferred step is feasible by considering whether obstructions infringe said personal space; and controlling movement of said autonomous entity based on the feasibility of said preferred step.
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37. A computer-readable medium encoded with computer-executable instructions to perform a computer-implemented method of simulating movement of an autonomous entity through an environment, the method comprising:
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providing a preferred clearance tolerance for said autonomous entity; determining a density of neighbouring entities; determining a personal space around said autonomous entity in dependence upon said preferred clearance tolerance and said density of neighbouring entities; and recording said personal space so as to allow movement of said autonomous entity to be determined.
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38. A computer-readable medium encoded with computer-executable instructions to perform a method of controlling movement of an autonomous entity through an environment, the method comprising:
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providing a provisional path through a model of the environment from a current location to an intended destination; providing a profile for said autonomous entity; determining a preferred step towards said intended destination based upon cost of a step, said profile and said provisional path; determining a personal space around said autonomous entity; determining whether said preferred step is feasible by considering whether obstructions infringe said personal space; and controlling movement of said autonomous entity based on the feasibility of said preferred step.
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39. A computer-readable medium encoded with computer-executable instructions to perform a computer-implemented method of simulating movement of an autonomous entity through an environment, the method comprising:
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providing a preferred clearance tolerance for said autonomous entity; providing information relating to velocity of said entity; determining a personal space around said autonomous entity in dependence upon said preferred clearance tolerance; determining an angular dependency for said personal space in dependence upon said velocity; and recording said personal space so as to allow movement of said autonomous entity to be determined.
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Specification