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

Claim 0:
1. 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 coupled to the robotic device;
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;
performing a gradient descent beginning with at least one initial value on the total cost function to evaluate at least one minima in the total cost function, wherein each of the at least one initial value comprises a motion command;
determining a minimum cost motion command based on the total cost function and the lowest total cost of the at least one initial value; and
executing the minimum cost motion command to effectuate movement of the robotic device along the target trajectory.