Patent ID: 11872703
Assignee: ROBERT BOSCH GMBH
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 6:
7. A device for planning an optimized motion path, wherein the device is configured to:
determine the optimized motion path by applying a sampling-based motion-planning algorithm depending on a sample node set including sample nodes, wherein the sample nodes in the sample node set are deterministically selected from a configuration node set including all obstacle free nodes; and
select the sample nodes by optimizing a dispersion criterion, wherein the dispersion criterion selects the sample nodes so that a largest uncovered area/space within the configuration node set is minimized, wherein the sample nodes are chosen based on a dispersion matrix including dispersion values for each of the obstacle free nodes of the configuration node set, wherein the obstacle free nodes with the highest dispersion value are selected as the sample nodes.