Robot plan online adjustment

Patent metadata

Field	Value
Publication number	US-11537130-B2
Application number	US-201916728650-A
Country	US
Kind code	B2
Filing date	Dec 27, 2019
Priority date	Dec 26, 2019
Publication date	Dec 27, 2022
Grant date	Dec 27, 2022

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints. Each waypoint is associated with a target position and a target velocity. The method includes generating an alternative path from the initial path. Generating an alternative path includes generating a plurality of alternative paths including performing respective modifications to one or more waypoints in the initial plan, evaluating each alternative path according to a simulated total time duration required for the robot to traverse the alternative path, and selecting an alternative path having a total time duration that is less than a total time duration of the initial plan.

First claim

What is claimed is:

1. A method performed by one or more computers, the method comprising:
receiving an initial plan for performing a particular task with a robot, wherein the initial plan is computed offline and defines a plurality of initial waypoints defining an initial path from a starting point to an end point, and wherein each initial waypoint is associated with parameters including a target position, a target velocity, and a target acceleration;
providing a first command to the robot to drive the robot to follow the initial path;
after providing the first command to the robot to drive the robot to follow the initial path, generating, during online operation of the robot, an alternative path from the initial path, including:
generating a plurality of alternative paths from the starting point to the end point, including performing respective modifications to at least one of the parameters of one or more initial waypoints in the initial plan to generate alternative waypoints, each alternative path of the plurality of alternative paths comprising a plurality of alternative waypoints,
evaluating each alternative path of the plurality of alternative paths according to a simulated total time duration required for the robot to traverse the alternative path from the starting point to the end point, and
selecting an alternative path having a total time duration that is less than a total time duration of the initial plan; and

providing, during online operation of the robot, a second command to the robot to drive the robot to follow one or more alternative waypoints of the selected alternative path instead of the initial path.

2. The method of claim 1 , wherein evaluating each alternative path of the plurality of alternative paths comprises using kinematics parameters of the robot to compute a total time duration for the robot to traverse the alternative path, wherein the kinematics parameters specify at least one of a maximum velocity, a maximum acceleration, or a turn radius of the robot.

3. The method of claim 1 , wherein performing respective modifications to the at least one of the parameters of the one or more initial waypoints in the initial plan comprises modifying at least one of a respective target velocity or a respective target acceleration associated with each of the one or more initial waypoints.

4. The method of claim 1 , wherein performing respective modifications to the at least one of the parameters of the one or more initial waypoints in the initial plan comprises modifying a position of a waypoint and performing an interpolation process to modify a corresponding velocity for the waypoint.

5. The method of claim 1 , wherein generating a plurality of alternative paths includes adding one or more new waypoints to the initial plan.

6. The method of claim 1 , wherein:
each alternative path of the plurality of alternative paths is associated with one or more respective blending parameters, wherein a blending parameter controls a smoothing interpolation across subsequent segments of the alternative path; and
evaluating each alternative path of the plurality of alternative paths comprises using the one or more respective blending parameters associated with the alternative path to compute a total time duration for the robot to traverse the alternative path.

7. The method of claim 1 , wherein the starting point and the end point are each waypoints associated with a target velocity of zero.

8. The method of claim 1 , comprising:
receiving data representing limit policies for kinematic parameters of the robot; and
generating the plurality of alternative paths based on the limit policies for the kinematic parameters of the robot.

9. The method of claim 1 , wherein each initial waypoint has a sequential position in the initial path, and each alternative waypoint has a same sequential position in the respective alternative path as the initial waypoint from which the alternative waypoint was generated.

10. The method of claim 1 , wherein performing respective modifications to the at least one of the parameters of the one or more initial waypoints in the initial plan comprises:
performing a first modification to a first parameter of the initial waypoint; and
after performing the first modification, performing a second modification to a second parameter of the initial waypoint based on an interpolation of the second parameter between a preceding waypoint and a succeeding waypoint.

11. The method of claim 1 , wherein generating, during online operation of the robot, the alternative path from the initial path comprises generating the alternative path after the robot initiates travel along the initial path.

12. The method of claim 1 , wherein evaluating each alternative path of the plurality of alternative paths according to a simulated total time duration required for the robot to traverse the alternative path from the starting point to the end point comprises:
computing, for a particular alternative path of the plurality of alternative paths, a first time duration of travel of the robot along a first path segment between a first set of two alternative waypoints of the particular alternative path;
computing, for the particular alternative path of the plurality of alternative paths, a second time duration of travel of the robot along a second path segment between a second set of two alternative waypoints of the particular alternative path; and
determining the simulated total time duration required for the robot to traverse the alternative path based on the first time duration of travel along the first path segment and the second time duration of travel along the second path segment.

13. The method of claim 12 , comprising:
selecting, for simulation, the first path segment and the second path segment from graph data representing candidate segments of alternative paths.

14. A system comprising one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
receiving an initial plan for performing a particular task with a robot, wherein the initial plan is computed offline and defines a plurality of initial waypoints defining an initial path from a starting point to an end point, and wherein each initial waypoint is associated with parameters including a target position, a target velocity, and a target acceleration;
providing a first command to the robot to drive the robot to follow the initial path;
after providing the first command to the robot to drive the robot to follow the initial path, generating, during online operation of the robot, an alternative path from the initial path, including:
generating a plurality of alternative paths from the starting point to the end point, including performing respective modifications to at least one of the parameters of one or more initial waypoints in the initial plan to generate alternative waypoints, each alternative path of the plurality of alternative paths comprising a plurality of alternative waypoints,
evaluating each alternative path of the plurality of alternative paths according to a simulated total time duration required for the robot to traverse the alternative path from the starting point to the end point, and
selecting an alternative path having a total time duration that is less than a total time duration of the initial plan; and

providing, during online operation of the robot, a second command to the robot to drive the robot to follow one or more alternative waypoints of the selected alternative path instead of the initial pa

Assignees

• X Dev Llc
• Intrinsic Innovation Llc

Inventors

• Gaschler Andre

Classifications

• G05B2219/40516

  Replanning · CPC title

• G05B2219/40466

  Plan for minimum time trajectory, at least one joint maximum torque · CPC title

• G05D1/027

  comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165) · CPC title

• G05D1/0289

  with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93) · CPC title

• B25J5/007

  mounted on wheels · CPC title