Invention Grant
- Patent Title: Pre-computation of kinematically feasible roadmaps
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Application No.: US15387446Application Date: 2016-12-21
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Publication No.: US10296012B2Publication Date: 2019-05-21
- Inventor: Geoffrey Lalonde , Peter Anderson-Sprecher
- Applicant: X Development LLC
- Applicant Address: US CA Mountain View
- Assignee: X Development LLC
- Current Assignee: X Development LLC
- Current Assignee Address: US CA Mountain View
- Agency: McDonnell Boehnen Hulbert & Berghoff LLP
- Main IPC: G05D1/02
- IPC: G05D1/02 ; G05D1/00

Abstract:
A computing device can determine a roadmap having a path for a robotic device in an environment associated with starting and ending poses. The computing device can generate a plurality of trajectories from the starting pose, where each trajectory can include a steering position and a traction velocity directing the robotic device during a planning time interval. For each trajectory of the plurality of trajectories, the computing device can determine a score for the trajectory indicative of advancement from the starting pose toward the ending pose after simulating the steering position and the traction velocity for the planning time interval. The computing device can select, and then store, a nominal trajectory from among the scored plurality of trajectories. The computing device can receive a first request to provide a route though the environment and can send a first response that includes the stored nominal trajectory.
Public/Granted literature
- US20180173242A1 Pre-Computation of Kinematically Feasible Roadmaps Public/Granted day:2018-06-21
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