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

Claim 15:
16. 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 as a function of all available motion commands based on the current state and the environmental context, the total cost being a summation of an environmental cost and a control cost for the all available motion commands;
determining a minimum cost motion command based on the total cost function; and
executing the minimum cost motion command to effectuate movement of the robotic device along the target trajectory.