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ROBOT NAVIGATION USING 2D AND 3D PATH PLANNING
ROBOT NAVIGATION USING 2D AND 3D PATH PLANNING
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机译:使用2D和3D路径规划进行机器人导航
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摘要
Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.
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