A computer-implemented method of determining control actions for controlling a mobile robot comprises: receiving a set of scenario description parameters describing a scenario and a desired goal for the mobile robot therein; in a first constrained optimization stage, applying a first optimizer to determine a first series of control actions that substantially globally optimizes a preliminary cost function for the scenario, the preliminary cost function based on a first computed trajectory of the mobile robot, as computed by applying a preliminary robot dynamics model to the first series of control actions, and in a second constrained optimization stage, applying a second optimizer to determine a second series of control actions that substantially globally optimizes a full cost function for the scenario, the full cost function based on a second computed trajectory of the mobile robot, as computed by applying a full robot dynamics model to the second series of control actions; wherein initialization data of at least one of the first computed trajectory and the first series of control actions is used to initialize the second optimizer for determining the second series of control actions, and wherein the preliminary robot dynamic model approximates the full robot dynamics model, the cost functions embody similar objectives to each encourage achievement of the desired goal, and both are optimized with respect to similar hard constraints, such that the initialization data guides the second optimizer to the substantially globally-optimal second series of control actions.


    Access

    Download


    Export, share and cite



    Title :

    PLANNING IN MOBILE ROBOTS


    Contributors:

    Publication date :

    2023-03-16


    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



    PLANNING IN MOBILE ROBOTS

    PULVER HENRY / HAWASLY MAJD / RAMAMOORTHY SUBRAMANIAN et al. | European Patent Office | 2024

    Free access

    PLANNING IN MOBILE ROBOTS

    HAWASLY MAJD / EIRAS FRANCISCO / RAMAMOORTHY SUBRAMANIAN | European Patent Office | 2021

    Free access

    PLANNING IN MOBILE ROBOTS

    HAWASLY MAJD / CAROZZA LUDOVICO / REDFORD JOHN | European Patent Office | 2024

    Free access

    PLANNING IN MOBILE ROBOTS

    CAROZZA LUDOVICO / HAWASLY MAJD / DOBRE MIHAI-SORIN et al. | European Patent Office | 2024

    Free access

    PLANNING IN MOBILE ROBOTS

    PULVER HENRY / HAWASLY MAJD / RAMAMOORTHY SUBRAMANIAN et al. | European Patent Office | 2024

    Free access