Patent ID: 11872703
Assignee: ROBERT BOSCH GMBH
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A computer-implemented method for planning an optimized motion path, the method comprising the following steps:
determining the optimized motion path is determined by applying a sampling-based motion-planning algorithm depending on a sample node set including sample nodes, wherein the sample nodes in the sample node set are deterministically selected from a configuration node set including only obstacle free nodes, and the sample nodes are selected to optimize a given dispersion criterion, wherein the given dispersion criterion selects the sample nodes so that a largest uncovered area/space within the configuration node set is minimized, wherein the sample nodes are chosen based on a dispersion matrix including dispersion values for each of the obstacle free nodes of the configuration node set, wherein the obstacle free nodes with the highest dispersion value are selected as the sample nodes.