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

Claim 15:
16. An autonomous vehicle (AV) comprising:
a computer communicatively coupled to a controller of the AV; and
a non-transitory computer readable storage medium storing instructions determining a route for the AV between a start point and an end point in a site encoded thereon that, when executed by the computer, cause the computer to:
generate, by a computer communicatively coupled to the AV, a route between the start point and the end point and through a modifiable obstacle, the start point and the end point represented as coordinates in a coordinate space of the site and the generated route comprising instructions for removing the modifiable obstacle by repeating one or more target tool paths a number of times based on one or more structural properties of the modifiable obstacle and a tool used by the AV to remove the modifiable obstacle, wherein repeating the one or more target tool paths to perform the generated route is more efficient than performing an alternate route;
perform, for the generated route, an operation that applies a cost function to determine a resource cost for the AV to navigate from the start point to the end point, wherein the cost function considers a weighted combination of environmental conditions in the site comprising the modifiable obstacle that may affect navigation of the AV from the start point to the end point; and
responsive to determining that the resource cost of the generated route is a lowest considered resource cost for navigating between the start point and an end point, navigate the AV along the generated route between the start point and the end point.