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. 22, 2018
Filed:
Jun. 07, 2015
Apple Inc., Cupertino, CA (US);
Norman N. Wang, San Jose, CA (US);
Jacques P. Gasselin de Richebourg, Sunnyvale, CA (US);
Bruno M. Sommer, Cupertino, CA (US);
Ross R. Dexter, San Jose, CA (US);
Apple Inc., Cupertino, CA (US);
Abstract
Techniques to automatically generate a navigation graph for a given environment and agent are disclosed. The environment may include an arbitrary number of polygonal obstacles arbitrarily arranged, concave or convex, static or dynamic. The disclosed operation extrudes (in a specified manner) the vertex of each obstacle. The extruded vertices comprise the navigation graph's nodes. Each object's extruded vertices may be joined to form a corresponding extruded object. Paths may then be identified by attempting to connect every extruded vertex with every other extruded vertex. Those paths intersecting any of the extruded objects are rejected as possible paths. In some embodiments, paths that are oriented in approximately the same direction having approximately the same length may be removed as being redundant.