The self-action of the mobile robot is autonomously planned in the presence of at least one agent. In a sampling phase, targets are sampled for agents from a set of available targets based on a probabilistic target distribution, and an observed agent trajectory is used to determine the probabilistic target distribution. Based on the probabilistic trajectory distribution, a proxy trajectory is sampled from a set of possible trajectories associated with the sampled target, each trajectory in the set of possible trajectories reaching the location of the associated target. In a simulation phase, a self-action is selected from a set of available self-actions, and based on the selected self-action, the sampled agent trajectory and the current state of the mobile robot, (i) the behavior of the mobile robot, and (ii) the synchronization behavior of the agent are simulated to assess the feasibility of the selected self-action.
在至少一个代理存在的情况下,移动机器人的自我动作是自主规划的。在采样阶段,基于概率目标分布从可用目标集中为代理采样目标,被观察代理轨迹用于确定概率目标分布。基于概率轨迹分布,从与所采样的目标相关联的可能轨迹集合中采样代理轨迹,所述可能轨迹集合中的每个轨迹均到达相关联目标的位置。在模拟阶段,从可用自我动作集合选择自我动作,以及基于所选择的自我动作、所采样的代理轨迹和移动机器人的当前状态,模拟(i)移动机器人的行为,以及(ii)代理的同步行为,以评估所选择的自我动作的可行性。
Prediction and planning of mobile robots
移动机器人的预测和规划
2022-08-02
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |