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公开(公告)号：US20200150666A1
公开(公告)日：2020-05-14
申请号：US16189593
申请日：2018-11-13
Applicant: Zebra Technologies Corporation
Inventor： Bradley M. Scott , Peter Arandorenko , Harsoveet Singh , Sadegh Tajeddin
Abstract: A method of navigational path planning for a mobile automation apparatus includes: obtaining an apparatus localization in a common frame of reference and a localization confidence level; detecting an obstacle boundary by one or more apparatus sensors; obtaining an obstacle map indicating the obstacle boundary in the frame of reference; generating a dynamic perimeter region of the obstacle boundary defining obstruction probabilities for respective distances from the obstacle boundary according to the localization confidence level; obtaining an environmental map indicating a predefined obstacle boundary; generating, for the predefined obstacle boundary, a static perimeter region defining obstructed space; identifying an obstructed portion of the dynamic perimeter region based on the obstruction probabilities and the apparatus localization; generating a navigational path traversing unobstructed space, that excludes the obstructed portion of the dynamic perimeter region, and the static perimeter region; and controlling the apparatus to traverse the generated navigational path.
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公开(公告)号：US20230043172A1
公开(公告)日：2023-02-09
申请号：US17396276
申请日：2021-08-06
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Sadegh Tajeddin , Paul D. Haist , Bradley M. Scott
Abstract: A method includes: selecting first control parameters for a perimeter intrusion detector of a mobile automation apparatus; controlling the perimeter intrusion detector according to the first control parameters, to monitor a first perimeter surrounding the mobile automation apparatus; determining that navigational data of the mobile automation apparatus defines a maneuver satisfying perimeter modification criteria; in response to determining that a likelihood of intrusion of the first perimeter associated with the maneuver exceeds a threshold, selecting second control parameters for the perimeter intrusion detector; modifying the first perimeter to a second perimeter according to the second control parameters; and controlling the perimeter intrusion detector to monitor the second perimeter.
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公开(公告)号：US11003188B2
公开(公告)日：2021-05-11
申请号：US16189593
申请日：2018-11-13
Applicant: Zebra Technologies Corporation
Inventor： Bradley M. Scott , Peter Arandorenko , Harsoveet Singh , Sadegh Tajeddin
Abstract: A method of navigational path planning for a mobile automation apparatus includes: obtaining an apparatus localization in a common frame of reference and a localization confidence level; detecting an obstacle boundary by one or more apparatus sensors; obtaining an obstacle map indicating the obstacle boundary in the frame of reference; generating a dynamic perimeter region of the obstacle boundary defining obstruction probabilities for respective distances from the obstacle boundary according to the localization confidence level; obtaining an environmental map indicating a predefined obstacle boundary; generating, for the predefined obstacle boundary, a static perimeter region defining obstructed space; identifying an obstructed portion of the dynamic perimeter region based on the obstruction probabilities and the apparatus localization; generating a navigational path traversing unobstructed space, that excludes the obstructed portion of the dynamic perimeter region, and the static perimeter region; and controlling the apparatus to traverse the generated navigational path.
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