Patent ID: 8874300
Filing Date: 2014-10-28
Classification: B60T,B60W,B62D,G05B,G05D,H04L,Y10S

Abstract:
1. A method for controlling a robotic vehicle using an obstacle map, the method comprising: obtaining, by a processor, a first plurality of points, wherein each point represents at least part of an obstacle and a position of the obstacle at a particular time, wherein obtaining the first plurality of points includes three-dimensional, time-stamped obstacle data from a laser scanner; comparing, by the processor, the three-dimensional, time-stamped obstacle data to pre-set criteria to separate the three-dimensional, time-stamped obstacle data into relevant obstacle data and irrelevant obstacle data, wherein the irrelevant obstacle data is outside the pre-set criteria; discarding, by the processor, the irrelevant obstacle data; correlating, by the processor, the relevant obstacle data to a two-dimensional point cloud representing an index of a point array; filtering, by the processor, the two-dimensional point cloud in removing the relevant obstacle data having a position beyond a pre-set length from the robotic vehicle; generating, by the processor, a two-dimensional obstacle map based at least in part on the point array; and controlling, by the processor, the robotic vehicle based on the two-dimensional obstacle map.