公开(公告)号：US10093021B2

公开(公告)日：2018-10-09

申请号：US15192719

申请日：2016-06-24

Applicant: QUALCOMM Incorporated

Inventor： Aliakbar Aghamohammadi ,  Serafin Diaz Spindola ,  Bardia Fallah Behabadi ,  Christopher Lott ,  Shayegan Omidshafiei ,  Kiran Somasundaram ,  Sarah Paige Gibson ,  Casimir Matthew Wierzynski ,  Saurav Agarwal ,  Gerhard Reitmayr

IPC: B25J9/16 ,  G05D1/02 ,  G01C21/20 ,  G01C21/32

Abstract: A method substantially simultaneously plans a path and maps an environment by a robot. The method determines a mean of an occupancy level for a location in a map. The method also includes determining a probability distribution function (PDF) of the occupancy level. The method further includes calculating a cost function based on the PDF. Finally, the method includes simultaneously planning the path and mapping the environment based on the cost function.

公开(公告)号：US10705528B2

公开(公告)日：2020-07-07

申请号：US15249250

申请日：2016-08-26

Applicant: QUALCOMM Incorporated

Inventor： Casimir Matthew Wierzynski ,  Bardia Fallah Behabadi ,  Sarah Paige Gibson ,  Aliakbar Aghamohammadi ,  Saurav Agarwal

IPC: G05D1/02 ,  G01C21/00 ,  G01C21/20 ,  G05D1/00 ,  G06K9/00 ,  G06T17/05

Abstract: A method of visual navigation for a robot includes integrating a depth map with localization information to generate a three-dimensional (3D) map. The method also includes motion planning based on the 3D map, the localization information, and/or a user input. The motion planning overrides the user input when a trajectory and/or a velocity, received via the user input, is predicted to cause a collision.