公开(公告)号：US11709502B2

公开(公告)日：2023-07-25

申请号：US16838707

申请日：2020-04-02

申请人： Boston Dynamics, Inc.

发明人： Tatiana Kichkaylo

IPC分类号： G05D1/02 ,  G05B19/418

CPC分类号： G05D1/0289 ,  G05B19/418 ,  G05B19/41895 ,  G05D1/0274 ,  G05B2219/31003 ,  G05B2219/32328 ,  G05D2201/0216 ,  Y02P90/02 ,  Y02P90/60 ,  Y02P90/80

摘要： Apparatus and methods related to routing robots are provided. A roadmap of an environment that includes first and second robots can be received. The roadmap can be annotated with unidirectional lanes connecting conflict regions, where each lane ends so to avoid blocking a conflict region. First and second routes for the respective uses of the first and second robots can be determined, where both the first and second routes include a first lane connected to a first conflict region. A first, higher priority and a second, lower priority can be assigned to the respective first and second robots. It can be determined that the second robot following the second route will block the first robot on the first lane. Based on the first priority being higher than the second priority, the computing device can alter the second route to prevent the second robot from blocking the first robot.