The present invention extends to methods, systems, and computer program products for path planning for autonomous moving devices. Aspects of the invention include planning a path for a mobile robot to move autonomously in an environment that includes other static and moving obstacles, such as, for example, other mobile devices and pedestrians, without reference to a prior map of the environment. A planned path for a mobile robot can be determined, adjusted, and adapted using diffusion maps to avoid collisions while making progress towards a global destination. Path planning can include using transition probabilities between grid points to find a feasible path through parts of the environment to make progress towards the global destination. In one aspect, diffusion maps are used in combination with a receding horizon approach, including computing diffusion maps at specified time intervals.


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    Title :

    Path planning for autonomous moving devices


    Contributors:
    HONG SANGHYUN (author) / LU JIANBO (author) / FILEV DIMITAR (author)

    Publication date :

    2024-08-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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