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Motion planning of a robot storing a discretized environment on one or more processors and improved operation of same
Motion planning of a robot storing a discretized environment on one or more processors and improved operation of same
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机译:在一个或多个处理器上存储离散环境的机器人的运动规划和改进的操作
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摘要
A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.
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