Abstract
This patent was filed on April 15, 2020 and was published online on June 25, 202 4.From the background information supplied by the inventors, news correspondents o btained the followingquote:“Description of the Related Art“Motion planning is a fundamental problem in robot control and robotics, includi ng robots withmoveable appendages and autonomous or semi-autonomous vehicles. A motion plan completely specifies apath a robot can follow from a starting stat e or pose to a goal state or pose, typically without colliding withany obstacle s in an operational environment or with a reduced possibility of colliding with any obstacles inthe operational environment. Challenges to motion planning invo lve the ability to perform motion planningat a relatively low cost and very fas t speeds that account for the kinematics of the robot itself as well asthe obst acles in the operational, even as characteristics of the robot itself change. Fo r example, suchcharacteristics may include the volume considered occupied by th e robot when the robot is holding objectsof various sizes, when changing to a d ifferent end effector or when changing to a different appendage.Also, there are also challenges with respect to a limited amount of motion planning information that couldbe stored on processor chip circuitry.”
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