Systems, apparatuses, and methods for cost evaluation and motion planning for robotic devices

Systems, apparatuses, and methods for cost evaluation and motion planning for robotic devices are disclosed herein. According to at least one non-limiting exemplary embodiment, a method for producing and evaluating a continuous and differentiable total cost as a function of all available motion comm...

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Bibliographic Details
Main Authors Lin, Tiger, Sinyavskiy, Oleg, Ma, Mark
Format Patent
LanguageEnglish
Published 09.04.2024
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
GYROSCOPIC INSTRUMENTS
HAND TOOLS
MANIPULATORS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PERFORMING OPERATIONS
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
SURVEYING
TESTING
TRANSPORTING
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Summary:Systems, apparatuses, and methods for cost evaluation and motion planning for robotic devices are disclosed herein. According to at least one non-limiting exemplary embodiment, a method for producing and evaluating a continuous and differentiable total cost as a function of all available motion commands is disclosed and may be utilized in conjunction with a gradient descent to determine a minimum cost motion command corresponding to an optimal motion for a robotic device to execute in accordance with a target trajectory and obstacle avoidance.
Bibliography:Application Number: US202117490356