A computer-implemented method of planning a mobile robot trajectory, the method comprising: receiving a set of scenario description parameters describing a scenario and a desired goal for the mobile robot therein; computing, from the set of scenario description parameters, initialization data defining an initial mobile robot trajectory; initializing a runtime optimizer with the initialization data; computing, by the runtime optimizer, a final mobile robot trajectory that substantially optimizes a cost function for the scenario, subject to a set of hard constraints that the final mobile robot trajectory is guaranteed to satisfy, the initial mobile robot trajectory being an approximation of the final mobile robot trajectory, wherein initializing the runtime optimizer guides the optimizer from the initial mobile robot trajectory to the final mobile robot trajectory that satisfies the hard constraints.
PLANNING IN MOBILE ROBOTS
PLANUNG BEI MOBILEN ROBOTERN
PLANIFICATION POUR ROBOTS MOBILES
2024-04-10
Patent
Electronic Resource
English
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |