The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 21, 2019
Filed:
Dec. 21, 2016
X Development Llc, Mountain View, CA (US);
Geoffrey Lalonde, La Honda, CA (US);
Peter Anderson-Sprecher, Los Altos Hills, CA (US);
X Development LLC, Mountain View, CA (US);
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.