Patent ID: 11875678
Assignee: ZOOX, INC.
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A method comprising:
receiving a route associated with a start position and an end position in an environment;
receiving sensor data from a sensor;
determining, based at least in part on the sensor data, a data structure indicating whether space in the environment is occupied or unoccupied;
determining, based at least in part on the route, a first grid comprising one or more layers disposed at intervals along the route and defining a plurality of nodes associated with different locations in the environment, wherein the first grid overlays the data structure, the plurality of nodes being regularly spaced along the route;
determining a subset of nodes based at least in part on the data structure;
determining, based at least in part on the subset of nodes, a cost plot, and a set of potential motions, a path between the start position and at least one of the end position or an end layer, the cost plot comprising a set of values indicative of costs to move from a range of positions and orientations to a desired position and orientation; and
controlling an autonomous vehicle based at least in part on the path.