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METHOD AND SYSTEM FOR OBSTACLE AVOIDANCE IN ROBOT PATH PLANNING USING DEPTH SENSORS
METHOD AND SYSTEM FOR OBSTACLE AVOIDANCE IN ROBOT PATH PLANNING USING DEPTH SENSORS
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机译:使用深度传感器的机器人路径规划中的避免避免方法和系统
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摘要
The present teaching relates to method, system, medium, and implementations for robot path planning. Depth data of obstacles, acquired by depth sensors deployed in a 3D robot workspace and represented with respect to a sensor coordinate system, is transformed into depth data with respect to a robot coordinate system. The 3D robot workspace is discretized to generate 3D grid points representing a discretized 3D robot workspace. Based on the depth data with respect to the robot coordinate system, binarized values are assigned to at least some of 3D grid points to generate a binarized representation for the obstacles present in the 3D robot workspace. With respect to one or more sensing points associated with a part of a robot, it is determined whether the part is to collide with any obstacle. Based on the determining, a path is planned for the robot to move along while avoiding any obstacle.
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