Waypoint graph generation for route planning using semantic map information

Abstract

In various examples, a technique for generating a route plan is disclosed that includes receiving a semantic map that represents a physical environment. The technique further includes generating a route graph based at least on the semantic map, where the route graph includes one or more route graph edges, wherein each route graph edge has an associated location in one or more map regions of the semantic map and an associated cost. The technique also includes determining a cost of a particular graph edge based at least on a region type, where the region type is determined based at least on a map region in which the particular route graph edge is located. The technique further includes generating, using the route graph, a route plan for a mobile robot to move from a given start location on the semantic map to a given destination location on the semantic map.