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:
Oct. 01, 2024
Filed:
Apr. 29, 2022
Toyota Research Institute, Inc., Los Altos, CA (US);
The Regents of the University of Michigan, Ann Arbor, MI (US);
Jiunn-Kai Huang, Mountain View, CA (US);
Yingwen Tan, Ann Arbor, MI (US);
Dongmyeong Lee, Ann Arbor, MI (US);
Vishnu R. Desaraju, Ann Arbor, MI (US);
Jessy W. Grizzle, Ann Arbor, MI (US);
Toyota Research Institute, Inc., Los Altos, CA (US);
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
The Regents of the University of Michigan, Ann Arbor, MI (US);
Abstract
A method includes inputting a source into a weighted and undirected graph having a plurality of nodes and edges, inputting a target, inputting a plurality of objectives, searching the graph using a rapidly exploring random tree algorithm to determine a solution path that meets an existence constraint and an order constraint, determining a plurality of paths between the source and the target that intersects with each one of the plurality of objectives at least once that conforms with the existence constraint, assigning a travel cost for each of the determined plurality of paths, determining a visiting order of the plurality of objectives that reduces the assigned travel cost by the RRT* algorithm asymptotically decreasing with an allocated computation time by rewiring each one of the plurality of objectives and outputting the solution path to form a connected graph having the plurality of nodes.