公开(公告)号：US12001210B2

公开(公告)日：2024-06-04

申请号：US17814738

申请日：2022-07-25

Applicant: Google LLC

Inventor： David Millard ,  Mikael Persson

IPC: G05D1/00 ,  B25J9/00 ,  B25J9/16 ,  G01C21/20 ,  G01C21/34 ,  G06V20/10

CPC classification number: G05D1/0088 ,  B25J9/0003 ,  B25J9/1666 ,  G01C21/20 ,  G05D1/0214 ,  G05D1/0217 ,  G05D1/0221 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0274 ,  G06V20/10 ,  G01C21/3453 ,  G05D1/0223 ,  Y10S901/01 ,  Y10S901/47

Abstract: Systems, methods, devices, and techniques for planning travel of an autonomous robot. A system identifies one or more obstacles that are located in proximity of at least a portion of a planned route for the autonomous robot. For each obstacle, the system: (i) determines a semantic class of the obstacle, including selecting the semantic class from a library that defines a set of multiple possible semantic classes for obstacles, and (ii) selects a planning policy for the obstacle that corresponds to the semantic class of the obstacle. The system can generate a trajectory along the at least the portion of the planned route using the selected planning policies. The robot can then initiate travel according to the trajectory.