Patent ID: 9452530
Filing Date: 2016-09-27
CPC Classification: B25J,G01S,G05B,G06K,G06T

Claim Text:
1. A method comprising: determining a current position of a robot with a processor of the robot; receiving sensor readings on positions, directions, and velocities of a visually-impaired user and other users who are not visually-impaired in an environment where the visually-impaired user is known from the other users; generating a model of motions of the visually-impaired user and the other users, the model including a user path for the visually-impaired user and a robot path for the robot; generating a collision prediction map to predict collisions between at least one of the robot, the visually-impaired user, and the other users; determining whether there is a risk of collision for either the visually-impaired user or the robot; and responsive to the risk of collision, updating at least one of the user path and the robot path based on the risk of collision; wherein generating the model of the motions further comprises: