Patent ID: 11934192
Assignee: BUILT ROBOTICS INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 7:
8. The method of claim 1, wherein the generated route is an unobstructed route, the method further comprising:
responsive to determining that the resource cost of the generated route is not the lowest considered resource cost for navigating between the start point and the end point, generating a set of obstructed routes between the start point and the end point, each obstructed route of the set comprising unique instructions for navigating the AV through obstacles between the start point and the end point and instructions for removing the obstacles between the start point and the end point;
performing, for each obstructed route of the set of obstructed routes, the operation that applies the cost function to the obstructed route to determine a resource cost of the obstructed route;
selecting, from the set of obstructed routes, a candidate obstructed route, wherein the candidate obstructed route has a lowest considered resource cost of the set of obstructed routes; and
responsive to determining the resource cost of the candidate obstructed route to be lower than the resource cost of the generated route, navigating the AV along the selected candidate obstructed route from the start point to the end point.