STAIR TRACKING FOR MODELED AND PERCEIVED TERRAIN

A method of stair tracking for modeled and perceived terrain includes receiving sensor data (134) about an environment (10) of a robot (100). The method also includes generating a set of maps (182) based on voxels corresponding to the received sensor data. The set of maps includes a ground height ma...

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Bibliographic Details
Main Author WHITMAN, Eric, Cary
Format Patent
LanguageEnglish
French
German
Published 01.03.2023
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROLLING
HAND TOOLS
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
MANIPULATORS
MOTOR VEHICLES
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TRAILERS
TRANSPORTING
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Summary:A method of stair tracking for modeled and perceived terrain includes receiving sensor data (134) about an environment (10) of a robot (100). The method also includes generating a set of maps (182) based on voxels corresponding to the received sensor data. The set of maps includes a ground height map and a map of movement limitations for the robot. The map of movement limitations identifies illegal regions within the environment that the robot should avoid entering. The method further includes generating a stair model (202) for a set of stairs (20) within the environment based on the sensor data, merging the stair model and the map of movement limitations to generate an enhanced stair map, and controlling the robot based on the enhanced stair map or the ground height map to traverse the environment.
Bibliography:Application Number: EP20210719321