Patent Document ID: 20160031083
Application ID: 14448763
Patent Flag: 0

Claim One:
1. A method for optimizing energy savings and reducing cycle time for mutating an initial path when a collision is detected, the method performed by a data processing system and comprising: initializing a plurality of clone paths where the collision was detected and a stop condition, wherein a clone path is a clone of the initial path and the initial path comprises a source location, a plurality of intermediate locations, and a target location; until the stop condition occurs, determining a candidate path to store in a population by repeating: applying a plurality of mutations to a selected clone path; generating a graph with a plurality of zone permutation vertices for each of the plurality of intermediate locations of the selected clone path and a plurality of rating edges between each zone permutation vertex of consecutive locations, wherein each of the plurality of zone permutation vertices has a radius one increment larger than a previous zone permutation vertex; simulating robotic movement of the candidate path to determine values for the rating edges, wherein the value of the rating edges is based on an energy consumption and a cycle time; removing the candidate path when a collision is detected; calculating a breed rating for each of a plurality of candidate paths, wherein the breed rating comprises a summation of the rating edges for the candidate path; and storing the candidate path possessing the lowest breed rating in the population; determining an optimal breed comprising the candidate path with an optimal rating, wherein the optimal rating is determined by the lowest breed rating in the population; and returning the optimal breed.