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:
Sep. 26, 2023
Filed:
Feb. 27, 2019
Five Ai Limited, Bristol, GB;
Andrew Blake, Bristol, GB;
Subramanian Ramamoorthy, Bristol, GB;
Svetlin-Valentinov Penkov, Bristol, GB;
Majd Hawasly, Bristol, GB;
Francisco Maria Girbal Eiras, Bristol, GB;
Alejandro Bordallo Mico, Bristol, GB;
Alexandre Oliveira E. Silva, Bristol, GB;
Five AI Limited, Cambridge, GB;
Abstract
The invention provides a computer-implemented method of planning a path for a mobile robot such as an autonomous vehicle in the presence of K obstacles. The method uses, for each of the K obstacles, a shape Bk and a density function pk(x) representing the probabilistic position of the obstacle. The method repeats the following steps for at least two different paths A: —choosing a path A, where A is the swept area of the robot within a given time interval; and—calculating based on the density function of each obstacle and the swept path an upper bound on the total probability of at least one collision Fbetween the robot and the K obstacles. This allows a number of candidate paths to be ranked for safety. By precomputing factors of the computational steps over K obstacles, the computation per path is O(N), and not O(NK). A safety threshold can be used to filter out paths below that threshold. An operating path to control the robot can be selected from the remaining paths, optionally based on other factors such as comfort or efficiency.