Patent ID: 11951629
Assignee: BRAIN CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 14:
15. A method for navigating a robotic device along a target trajectory, comprising:
evaluating a current state of the robotic device and environmental context using at least one sensor, the at least one sensor being coupled to the robotic device;
generating a kernelized footprint of the robotic device using at least one continuous and differentiable function;
utilizing the kernelized footprint to generate a continuous differentiable environmental cost as a function of all available motion commands based on an area overlap between the kernelized footprint and environmental objects projected on a computer readable map during simulated execution of the all available motion commands;
evaluating a total cost function, the total cost being a summation of the environmental cost and a control cost for the all available motion commands;
utilizing at least one randomly selected motion command as at least one initial value on the total cost function;
performing a gradient descent beginning at each of the at least one initial values to evaluate at least one minima in the total cost function;
selecting the minimum cost motion command based on the lowest total cost of the at least on minima;
imposing a collision threshold on a cost of the minimum cost motion command, the minimum cost motion command exceeding the collision threshold corresponds to no viable motion commands being available to the robotic device without collision with objects of the environment; and
executing the minimum cost motion command to effectuate movement of the robotic device along the target trajectory if the minimum cost motion command comprises a total cost below the collision threshold.