KR102528869B1 - 자율 네비게이션에서 동적 노정을 계획하기 위한 시스템 및 방법 - Google Patents

자율 네비게이션에서 동적 노정을 계획하기 위한 시스템 및 방법 Download PDF

Info

Publication number
KR102528869B1
KR102528869B1 KR1020197015595A KR20197015595A KR102528869B1 KR 102528869 B1 KR102528869 B1 KR 102528869B1 KR 1020197015595 A KR1020197015595 A KR 1020197015595A KR 20197015595 A KR20197015595 A KR 20197015595A KR 102528869 B1 KR102528869 B1 KR 102528869B1
Authority
KR
South Korea
Prior art keywords
robot
route
pose
posture
points
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
KR1020197015595A
Other languages
English (en)
Korean (ko)
Other versions
KR20190077050A (ko
Inventor
보르하 이바르즈 가바르도스
장 밥티스트 파소
Original Assignee
브레인 코퍼레이션
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=62021299&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=KR102528869(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by 브레인 코퍼레이션 filed Critical 브레인 코퍼레이션
Publication of KR20190077050A publication Critical patent/KR20190077050A/ko
Application granted granted Critical
Publication of KR102528869B1 publication Critical patent/KR102528869B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • G05D2201/0203—

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
KR1020197015595A 2016-11-02 2017-10-31 자율 네비게이션에서 동적 노정을 계획하기 위한 시스템 및 방법 Active KR102528869B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/341,612 2016-11-02
US15/341,612 US10001780B2 (en) 2016-11-02 2016-11-02 Systems and methods for dynamic route planning in autonomous navigation
PCT/US2017/059379 WO2018085294A1 (en) 2016-11-02 2017-10-31 Systems and methods for dynamic route planning in autonomous navigation

Publications (2)

Publication Number Publication Date
KR20190077050A KR20190077050A (ko) 2019-07-02
KR102528869B1 true KR102528869B1 (ko) 2023-05-04

Family

ID=62021299

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020197015595A Active KR102528869B1 (ko) 2016-11-02 2017-10-31 자율 네비게이션에서 동적 노정을 계획하기 위한 시스템 및 방법

Country Status (7)

Country Link
US (3) US10001780B2 (enExample)
EP (1) EP3535630A4 (enExample)
JP (1) JP7061337B2 (enExample)
KR (1) KR102528869B1 (enExample)
CN (1) CN110023866B (enExample)
CA (1) CA3042532A1 (enExample)
WO (1) WO2018085294A1 (enExample)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10809071B2 (en) * 2017-10-17 2020-10-20 AI Incorporated Method for constructing a map while performing work
CN105760576A (zh) * 2016-01-27 2016-07-13 首都师范大学 一种基于共形几何代数的机械臂运动规划的形式化分析方法及系统
KR102526083B1 (ko) * 2016-08-30 2023-04-27 엘지전자 주식회사 이동 단말기 및 그의 동작 방법
US10429196B2 (en) * 2017-03-08 2019-10-01 Invensense, Inc. Method and apparatus for cart navigation
US10293485B2 (en) * 2017-03-30 2019-05-21 Brain Corporation Systems and methods for robotic path planning
FR3065853B1 (fr) * 2017-04-27 2019-06-07 Peugeot Citroen Automobiles Sa Procede et dispositif de controle de la transmission de donnees d’un vehicule a un equipement de communication
KR102500634B1 (ko) * 2018-01-05 2023-02-16 엘지전자 주식회사 안내 로봇 및 그의 동작 방법
CN108742346A (zh) * 2018-06-27 2018-11-06 杨扬 遍历工作环境的方法及建立栅格地图的方法
KR102770055B1 (ko) 2018-07-16 2025-02-20 브레인 코퍼레이션 로봇식 장치의 타이트 턴을 위한 경로 계획을 최적화하는 시스템 및 방법
US11092458B2 (en) * 2018-10-30 2021-08-17 Telenav, Inc. Navigation system with operation obstacle alert mechanism and method of operation thereof
US10809734B2 (en) 2019-03-13 2020-10-20 Mobile Industrial Robots A/S Route planning in an autonomous device
CN110101340A (zh) * 2019-05-24 2019-08-09 北京小米移动软件有限公司 清洁设备、清洁操作执行方法、装置和存储介质
KR102691285B1 (ko) * 2019-05-29 2024-08-06 엘지전자 주식회사 영상 학습을 바탕으로 주행경로를 설정하는 지능형 로봇 청소기 및 이의 운용방법
US11958183B2 (en) 2019-09-19 2024-04-16 The Research Foundation For The State University Of New York Negotiation-based human-robot collaboration via augmented reality
WO2021183898A1 (en) * 2020-03-13 2021-09-16 Brain Corporation Systems and methods for route synchronization for robotic devices
US11592299B2 (en) 2020-03-19 2023-02-28 Mobile Industrial Robots A/S Using static scores to control vehicle operations
CN113741550B (zh) * 2020-05-15 2024-02-02 北京机械设备研究所 移动机器人跟随方法和系统
CN112015183B (zh) * 2020-09-08 2022-02-08 安徽工程大学 一种能耗约束下在具有凹凸地形中移动机器人避障方法
US11927972B2 (en) * 2020-11-24 2024-03-12 Lawrence Livermore National Security, Llc Collision avoidance based on traffic management data
CN112595324B (zh) * 2020-12-10 2022-03-29 安徽工程大学 一种能耗最优下最优节点轮式移动机器人路径规划方法
WO2022140969A1 (zh) * 2020-12-28 2022-07-07 深圳市优必选科技股份有限公司 动态生成脚印集方法、存储介质及双足机器人
CN112833899B (zh) * 2020-12-31 2022-02-15 吉林大学 一种用于无人环卫车的全覆盖路径规划方法
CN112971621A (zh) * 2021-03-11 2021-06-18 河北工业大学 室内智能清洁系统及控制方法
US11940800B2 (en) * 2021-04-23 2024-03-26 Irobot Corporation Navigational control of autonomous cleaning robots
US20230071338A1 (en) * 2021-09-08 2023-03-09 Sea Machines Robotics, Inc. Navigation by mimic autonomy
CN114355925B (zh) * 2021-12-29 2024-03-19 杭州海康机器人股份有限公司 路径规划方法、装置、设备及计算机可读存储介质
CN114431122B (zh) * 2022-01-27 2023-03-24 山东交通学院 一种道路绿化洒水智能控制系统及方法
CN114947655B (zh) * 2022-05-17 2024-10-25 安克创新科技股份有限公司 机器人控制方法、装置、机器人和计算机可读存储介质
US12037769B1 (en) * 2023-06-29 2024-07-16 Built Robotics Inc. Autonomous offroad vehicle path planning with collision avoidance
CN119305544A (zh) * 2023-07-06 2025-01-14 深圳引望智能技术有限公司 控制方法、装置和智能驾驶设备
CN118192548B (zh) * 2024-03-06 2025-08-05 北京机械工业自动化研究所有限公司 巡检机器人的路径优化方法、装置、存储介质

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101133037B1 (ko) * 2011-12-01 2012-04-04 국방과학연구소 자율이동차량용 충돌회피를 위한 경로갱신방법 및 그 장치
KR101233714B1 (ko) * 2010-09-30 2013-02-18 아주대학교산학협력단 장애물 트랩을 회피하는 자율 이동 로봇 및 그 제어 방법

Family Cites Families (191)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5280179A (en) 1979-04-30 1994-01-18 Sensor Adaptive Machines Incorporated Method and apparatus utilizing an orientation code for automatically guiding a robot
US4638445A (en) 1984-06-08 1987-01-20 Mattaboni Paul J Autonomous mobile robot
US5121497A (en) 1986-03-10 1992-06-09 International Business Machines Corporation Automatic generation of executable computer code which commands another program to perform a task and operator modification of the generated executable computer code
US4763276A (en) 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
US4852018A (en) 1987-01-07 1989-07-25 Trustees Of Boston University Massively parellel real-time network architectures for robots capable of self-calibrating their operating parameters through associative learning
JPS63229503A (ja) * 1987-03-19 1988-09-26 Fujitsu Ltd ロボツトの姿勢制御方法
ATE150879T1 (de) 1989-10-17 1997-04-15 Perkin Elmer Corp Robotische schnittstelle
US5646845A (en) 1990-02-05 1997-07-08 Caterpillar Inc. System and method for controlling an autonomously navigated vehicle
US8352400B2 (en) 1991-12-23 2013-01-08 Hoffberg Steven M Adaptive pattern recognition based controller apparatus and method and human-factored interface therefore
US5673367A (en) 1992-10-01 1997-09-30 Buckley; Theresa M. Method for neural network control of motion using real-time environmental feedback
CA2081519C (en) 1992-10-27 2000-09-05 The University Of Toronto Parametric control device
KR0161031B1 (ko) 1993-09-09 1998-12-15 김광호 로보트의 위치오차보정장치
US5602761A (en) 1993-12-30 1997-02-11 Caterpillar Inc. Machine performance monitoring and fault classification using an exponentially weighted moving average scheme
US7418346B2 (en) * 1997-10-22 2008-08-26 Intelligent Technologies International, Inc. Collision avoidance methods and systems
WO1997010081A1 (en) 1995-09-11 1997-03-20 Kabushiki Kaisha Yaskawa Denki Robot controller
US6169981B1 (en) 1996-06-04 2001-01-02 Paul J. Werbos 3-brain architecture for an intelligent decision and control system
DE19745656C2 (de) * 1997-10-16 2000-06-21 Daimler Chrysler Ag Pralldämpfer für ein Kraftfahrzeug
US6366293B1 (en) 1998-09-29 2002-04-02 Rockwell Software Inc. Method and apparatus for manipulating and displaying graphical objects in a computer display device
US6243622B1 (en) 1998-10-16 2001-06-05 Xerox Corporation Touchable user interface using self movable robotic modules
EP1037134A2 (en) 1999-03-16 2000-09-20 Matsushita Electric Industrial Co., Ltd. Virtual space control data receiving apparatus and method
US6124694A (en) 1999-03-18 2000-09-26 Bancroft; Allen J. Wide area navigation for a robot scrubber
EP1092458A1 (en) 1999-04-30 2001-04-18 Sony Corporation Electronic pet system, network system, robot, and storage medium
JP3537362B2 (ja) 1999-10-12 2004-06-14 ファナック株式会社 ロボットシステム用グラフィック表示装置
WO2001067749A2 (en) 2000-03-07 2001-09-13 Sarnoff Corporation Camera pose estimation
EP1195231A4 (en) 2000-03-31 2006-01-25 Sony Corp ROBOT, METHOD FOR CONTROLLING A ROBOTIC ACTION, METHOD AND DEVICE FOR DETECTING EXTERNAL FORCE
US8543519B2 (en) 2000-08-07 2013-09-24 Health Discovery Corporation System and method for remote melanoma screening
JP4765155B2 (ja) 2000-09-28 2011-09-07 ソニー株式会社 オーサリング・システム及びオーサリング方法、並びに記憶媒体
US6678413B1 (en) 2000-11-24 2004-01-13 Yiqing Liang System and method for object identification and behavior characterization using video analysis
JP2002197437A (ja) 2000-12-27 2002-07-12 Sony Corp 歩行検出システム、歩行検出装置、デバイス、歩行検出方法
US6442451B1 (en) 2000-12-28 2002-08-27 Robotic Workspace Technologies, Inc. Versatile robot control system
JP2002239960A (ja) 2001-02-21 2002-08-28 Sony Corp ロボット装置の動作制御方法、プログラム、記録媒体及びロボット装置
US20020175894A1 (en) 2001-03-06 2002-11-28 Vince Grillo Hand-supported mouse for computer input
US6917925B2 (en) 2001-03-30 2005-07-12 Intelligent Inference Systems Corporation Convergent actor critic-based fuzzy reinforcement learning apparatus and method
JP2002301674A (ja) 2001-04-03 2002-10-15 Sony Corp 脚式移動ロボット及びその運動教示方法、並びに記憶媒体
DE60118317T2 (de) 2001-04-30 2006-12-14 Sony France S.A. Autonom Roboter
US6584375B2 (en) 2001-05-04 2003-06-24 Intellibot, Llc System for a retail environment
US6636781B1 (en) 2001-05-22 2003-10-21 University Of Southern California Distributed control and coordination of autonomous agents in a dynamic, reconfigurable system
JP3760186B2 (ja) 2001-06-07 2006-03-29 独立行政法人科学技術振興機構 二脚歩行式移動装置及びその歩行制御装置並びに歩行制御方法
JP4188607B2 (ja) 2001-06-27 2008-11-26 本田技研工業株式会社 二足歩行移動体の床反力推定方法及び二足歩行移動体の関節モーメント推定方法
WO2003007129A2 (en) 2001-07-13 2003-01-23 Broks Automation, Inc. Trajectory planning and motion control strategies for a planar three-degree-of-freedom robotic arm
US6710346B2 (en) 2001-08-02 2004-03-23 International Business Machines Corporation Active infrared presence sensor
CA2458979C (en) 2001-08-31 2010-09-28 George Danko Coordinated joint motion control system
US6812846B2 (en) 2001-09-28 2004-11-02 Koninklijke Philips Electronics N.V. Spill detector based on machine-imaging
US7243334B1 (en) 2002-01-16 2007-07-10 Prelude Systems, Inc. System and method for generating user interface code
JP3790816B2 (ja) 2002-02-12 2006-06-28 国立大学法人 東京大学 人型リンク系の運動生成方法
US8010180B2 (en) 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
AUPS123702A0 (en) * 2002-03-22 2002-04-18 Nahla, Ibrahim S. Mr The train navigtion and control system (TNCS) for multiple tracks
US20040134336A1 (en) 2002-04-22 2004-07-15 Neal Solomon System, methods and apparatus for aggregating groups of mobile robotic vehicles
US7505604B2 (en) 2002-05-20 2009-03-17 Simmonds Precision Prodcuts, Inc. Method for detection and recognition of fog presence within an aircraft compartment using video images
WO2004018158A2 (en) 2002-08-21 2004-03-04 Neal Solomon Organizing groups of self-configurable mobile robotic agents
AU2003900861A0 (en) 2003-02-26 2003-03-13 Silverbrook Research Pty Ltd Methods,systems and apparatus (NPS042)
JP3950805B2 (ja) 2003-02-27 2007-08-01 ファナック株式会社 教示位置修正装置
US7313279B2 (en) 2003-07-08 2007-12-25 Computer Associates Think, Inc. Hierarchical determination of feature relevancy
SE0301531L (sv) 2003-05-22 2004-11-23 Abb Ab A Control method for a robot
US7212651B2 (en) 2003-06-17 2007-05-01 Mitsubishi Electric Research Laboratories, Inc. Detecting pedestrians using patterns of motion and appearance in videos
US7769487B2 (en) 2003-07-24 2010-08-03 Northeastern University Process and architecture of robotic system to mimic animal behavior in the natural environment
KR100520049B1 (ko) * 2003-09-05 2005-10-10 학교법인 인하학원 자율이동로봇을 위한 경로계획방법
WO2005028166A1 (ja) 2003-09-22 2005-03-31 Matsushita Electric Industrial Co., Ltd. 弾性体アクチュエータの制御装置及び制御方法
US7342589B2 (en) 2003-09-25 2008-03-11 Rockwell Automation Technologies, Inc. System and method for managing graphical data
JP4592276B2 (ja) 2003-10-24 2010-12-01 ソニー株式会社 ロボット装置のためのモーション編集装置及びモーション編集方法、並びにコンピュータ・プログラム
EP1724653B1 (en) 2004-02-25 2014-05-07 The Ritsumeikan Trust Control system of floating mobile body
JP4661074B2 (ja) 2004-04-07 2011-03-30 ソニー株式会社 情報処理システム、情報処理方法、並びにロボット装置
EP1622072B1 (en) 2004-07-27 2010-07-07 Sony France S.A. An automated action-selection system and method and application thereof for training prediction machines and for driving the development of self-developing devices
SE0402672D0 (sv) 2004-11-02 2004-11-02 Viktor Kaznov Ball robot
US9534899B2 (en) * 2005-03-25 2017-01-03 Irobot Corporation Re-localization of a robot for slam
US7211979B2 (en) 2005-04-13 2007-05-01 The Broad Of Trustees Of The Leland Stanford Junior University Torque-position transformer for task control of position controlled robots
US7765029B2 (en) 2005-09-13 2010-07-27 Neurosciences Research Foundation, Inc. Hybrid control device
JP4876511B2 (ja) 2005-09-29 2012-02-15 株式会社日立製作所 ロジック抽出支援装置
EP2050544B1 (en) 2005-09-30 2011-08-31 iRobot Corporation Robot system with wireless communication by TCP/IP transmissions
US7668605B2 (en) 2005-10-26 2010-02-23 Rockwell Automation Technologies, Inc. Wireless industrial control user interface
KR101300493B1 (ko) 2005-12-02 2013-09-02 아이로보트 코퍼레이션 커버리지 로봇 이동성
US7741802B2 (en) 2005-12-20 2010-06-22 Intuitive Surgical Operations, Inc. Medical robotic system with programmably controlled constraints on error dynamics
US8224018B2 (en) 2006-01-23 2012-07-17 Digimarc Corporation Sensing data from physical objects
US7576639B2 (en) 2006-03-14 2009-08-18 Mobileye Technologies, Ltd. Systems and methods for detecting pedestrians in the vicinity of a powered industrial vehicle
US8924021B2 (en) 2006-04-27 2014-12-30 Honda Motor Co., Ltd. Control of robots from human motion descriptors
JP4320363B2 (ja) 2006-05-25 2009-08-26 豪洋 石崎 作業ロボット
KR100791382B1 (ko) 2006-06-01 2008-01-07 삼성전자주식회사 로봇의 이동 경로에 따라 소정 영역의 특성에 관한 정보를수집하고 분류하는 방법 및 상기 영역 특성에 따라제어되는 로봇, 상기 영역 특성을 이용한 ｕｉ 구성 방법및 장치
US20080059015A1 (en) * 2006-06-09 2008-03-06 Whittaker William L Software architecture for high-speed traversal of prescribed routes
US8843244B2 (en) * 2006-10-06 2014-09-23 Irobot Corporation Autonomous behaviors for a remove vehicle
JP4699426B2 (ja) 2006-08-08 2011-06-08 パナソニック株式会社 障害物回避方法と障害物回避移動装置
US8174568B2 (en) * 2006-12-01 2012-05-08 Sri International Unified framework for precise vision-aided navigation
JP4267027B2 (ja) 2006-12-07 2009-05-27 ファナック株式会社 ロボット制御装置
EP2479627A3 (en) 2007-03-29 2013-03-06 iRobot Corporation Robot operator control unit configuration system and method
US8255092B2 (en) 2007-05-14 2012-08-28 Irobot Corporation Autonomous behaviors for a remote vehicle
JP5213023B2 (ja) 2008-01-15 2013-06-19 本田技研工業株式会社 ロボット
CN101952087B (zh) 2008-02-06 2013-01-16 松下电器产业株式会社 机器人、机器人的控制装置及控制方法
JP5181704B2 (ja) 2008-02-07 2013-04-10 日本電気株式会社 データ処理装置、姿勢推定システム、姿勢推定方法およびプログラム
US8175992B2 (en) 2008-03-17 2012-05-08 Intelliscience Corporation Methods and systems for compound feature creation, processing, and identification in conjunction with a data analysis and feature recognition system wherein hit weights are summed
KR101261148B1 (ko) 2008-04-02 2013-05-06 아이로보트 코퍼레이션 로보틱스 시스템
JP4715863B2 (ja) 2008-05-01 2011-07-06 ソニー株式会社 アクチュエータ制御装置及びアクチュエータ制御方法、アクチュエータ、ロボット装置、並びにコンピュータ・プログラム
JP5287051B2 (ja) 2008-09-04 2013-09-11 村田機械株式会社 自律移動装置
US20100174384A1 (en) 2008-09-04 2010-07-08 Iwalk, Inc. Hybrid terrain-adaptive lower-extremity systems
US20110282169A1 (en) 2008-10-29 2011-11-17 The Regents Of The University Of Colorado, A Body Corporate Long Term Active Learning from Large Continually Changing Data Sets
US20100114372A1 (en) 2008-10-30 2010-05-06 Intellibot Robotics Llc Method of cleaning a surface using an automatic cleaning device
JP5242342B2 (ja) 2008-10-31 2013-07-24 株式会社東芝 ロボット制御装置
US8428781B2 (en) 2008-11-17 2013-04-23 Energid Technologies, Inc. Systems and methods of coordination control for robot manipulation
US8423182B2 (en) 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
US8120301B2 (en) 2009-03-09 2012-02-21 Intuitive Surgical Operations, Inc. Ergonomic surgeon control console in robotic surgical systems
US8364314B2 (en) 2009-04-30 2013-01-29 GM Global Technology Operations LLC Method and apparatus for automatic control of a humanoid robot
US8694449B2 (en) 2009-05-29 2014-04-08 Board Of Trustees Of Michigan State University Neuromorphic spatiotemporal where-what machines
JP4676544B2 (ja) 2009-05-29 2011-04-27 ファナック株式会社 工作機械に対してワークの供給及び取り出しを行うロボットを制御するロボット制御装置
US8706297B2 (en) 2009-06-18 2014-04-22 Michael Todd Letsky Method for establishing a desired area of confinement for an autonomous robot and autonomous robot implementing a control system for executing the same
WO2011001569A1 (ja) 2009-07-02 2011-01-06 パナソニック株式会社 ロボット、ロボットアームの制御装置、及びロボットアームの制御プログラム
EP2284769B1 (en) 2009-07-16 2013-01-02 European Space Agency Method and apparatus for analyzing time series data
US20110026770A1 (en) 2009-07-31 2011-02-03 Jonathan David Brookshire Person Following Using Histograms of Oriented Gradients
US8250901B2 (en) 2009-09-22 2012-08-28 GM Global Technology Operations LLC System and method for calibrating a rotary absolute position sensor
TW201113815A (en) 2009-10-09 2011-04-16 Primax Electronics Ltd QR code processing method and apparatus thereof
DE102009052629A1 (de) * 2009-11-10 2011-05-12 Vorwerk & Co. Interholding Gmbh Verfahren zur Steuerung eines Roboters
US8423225B2 (en) 2009-11-11 2013-04-16 Intellibot Robotics Llc Methods and systems for movement of robotic device using video signal
US8679260B2 (en) 2009-11-11 2014-03-25 Intellibot Robotics Llc Methods and systems for movement of an automatic cleaning device using video signal
JP5446765B2 (ja) 2009-11-17 2014-03-19 トヨタ自動車株式会社 経路探索システム、経路探索方法、経路探索プログラム、及び移動体
US8521328B2 (en) 2009-12-10 2013-08-27 The Boeing Company Control system for robotic vehicles
TW201123031A (en) 2009-12-24 2011-07-01 Univ Nat Taiwan Science Tech Robot and method for recognizing human faces and gestures thereof
JP5506617B2 (ja) 2009-12-28 2014-05-28 本田技研工業株式会社 ロボットの制御装置
JP5506618B2 (ja) 2009-12-28 2014-05-28 本田技研工業株式会社 ロボットの制御装置
US8668638B2 (en) 2010-02-11 2014-03-11 Intuitive Surgical Operations, Inc. Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope
KR101169674B1 (ko) 2010-03-11 2012-08-06 한국과학기술연구원 원격현전 로봇, 이를 포함하는 원격현전 시스템 및 이의 제어 방법
US8660355B2 (en) 2010-03-19 2014-02-25 Digimarc Corporation Methods and systems for determining image processing operations relevant to particular imagery
US9122994B2 (en) 2010-03-26 2015-09-01 Brain Corporation Apparatus and methods for temporally proximate object recognition
US9311593B2 (en) 2010-03-26 2016-04-12 Brain Corporation Apparatus and methods for polychronous encoding and multiplexing in neuronal prosthetic devices
US9405975B2 (en) 2010-03-26 2016-08-02 Brain Corporation Apparatus and methods for pulse-code invariant object recognition
US8336420B2 (en) 2010-06-02 2012-12-25 Disney Enterprises, Inc. Three-axis robotic joint using four-bar linkages to drive differential side gears
FR2963132A1 (fr) 2010-07-23 2012-01-27 Aldebaran Robotics Robot humanoide dote d'une interface de dialogue naturel, methode d'utilisation et de programmation de ladite interface
CN103026396B (zh) * 2010-07-27 2015-09-23 丰田自动车株式会社 驾驶辅助装置
US20120045068A1 (en) 2010-08-20 2012-02-23 Korea Institute Of Science And Technology Self-fault detection system and method for microphone array and audio-based device
KR101743926B1 (ko) * 2010-09-20 2017-06-08 삼성전자주식회사 로봇 및 그 제어방법
US8594971B2 (en) 2010-09-22 2013-11-26 Invensense, Inc. Deduced reckoning navigation without a constraint relationship between orientation of a sensor platform and a direction of travel of an object
KR20120035519A (ko) 2010-10-05 2012-04-16 삼성전자주식회사 먼지 유입 감지 유닛 및 이를 구비하는 로봇 청소기
US20120143495A1 (en) 2010-10-14 2012-06-07 The University Of North Texas Methods and systems for indoor navigation
US9015093B1 (en) 2010-10-26 2015-04-21 Michael Lamport Commons Intelligent control with hierarchical stacked neural networks
US8726095B2 (en) 2010-12-02 2014-05-13 Dell Products L.P. System and method for proactive management of an information handling system with in-situ measurement of end user actions
JP5185358B2 (ja) 2010-12-13 2013-04-17 株式会社東芝 行動履歴検索装置
JP5074640B2 (ja) 2010-12-17 2012-11-14 パナソニック株式会社 弾性体アクチュエータ駆動機構の制御装置及び制御方法、並びに、制御プログラム
US8380652B1 (en) 2011-05-06 2013-02-19 Google Inc. Methods and systems for autonomous robotic decision making
US8639644B1 (en) 2011-05-06 2014-01-28 Google Inc. Shared robot knowledge base for use with cloud computing system
US9566710B2 (en) 2011-06-02 2017-02-14 Brain Corporation Apparatus and methods for operating robotic devices using selective state space training
US9189891B2 (en) 2011-08-16 2015-11-17 Google Inc. Systems and methods for navigating a camera
US9015092B2 (en) 2012-06-04 2015-04-21 Brain Corporation Dynamically reconfigurable stochastic learning apparatus and methods
US20130096719A1 (en) 2011-10-13 2013-04-18 The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration Method for dynamic optimization of a robot control interface
JP6305673B2 (ja) 2011-11-07 2018-04-04 セイコーエプソン株式会社 ロボット制御システム、ロボットシステム及びロボット
JP5399593B2 (ja) 2011-11-10 2014-01-29 パナソニック株式会社 ロボット、ロボットの制御装置、制御方法、及び制御プログラム
KR101305819B1 (ko) 2012-01-04 2013-09-06 현대자동차주식회사 착용식 로봇의 사용자 조작 의도 토크 추출방법
US8958911B2 (en) 2012-02-29 2015-02-17 Irobot Corporation Mobile robot
JP5895628B2 (ja) 2012-03-15 2016-03-30 株式会社ジェイテクト ロボットの制御方法及びロボット制御装置、並びにロボット制御システム
US9221177B2 (en) 2012-04-18 2015-12-29 Massachusetts Institute Of Technology Neuromuscular model-based sensing and control paradigm for a robotic leg
US9208432B2 (en) 2012-06-01 2015-12-08 Brain Corporation Neural network learning and collaboration apparatus and methods
US8996174B2 (en) 2012-06-21 2015-03-31 Rethink Robotics, Inc. User interfaces for robot training
US20130346347A1 (en) 2012-06-22 2013-12-26 Google Inc. Method to Predict a Communicative Action that is Most Likely to be Executed Given a Context
JP5645885B2 (ja) 2012-06-29 2014-12-24 京セラドキュメントソリューションズ株式会社 画像形成装置
BR112014033122A2 (pt) 2012-07-04 2017-06-27 Indra Sist S A sistema integrado de detecção prematura de hidrocarbonetos em um meio aquoso
US8977582B2 (en) 2012-07-12 2015-03-10 Brain Corporation Spiking neuron network sensory processing apparatus and methods
US9367798B2 (en) 2012-09-20 2016-06-14 Brain Corporation Spiking neuron network adaptive control apparatus and methods
US8793205B1 (en) 2012-09-20 2014-07-29 Brain Corporation Robotic learning and evolution apparatus
US8972061B2 (en) 2012-11-02 2015-03-03 Irobot Corporation Autonomous coverage robot
US20140187519A1 (en) 2012-12-27 2014-07-03 The Board Of Trustees Of The Leland Stanford Junior University Biomarkers for predicting major adverse events
EP2752726B1 (de) 2013-01-08 2015-05-27 Cleanfix Reinigungssysteme AG Bodenbehandlungsmaschine und Verfahren zum Behandeln von Bodenflächen
US9380922B2 (en) 2013-01-18 2016-07-05 Irobot Corporation Environmental management systems including mobile robots and methods using same
US8958937B2 (en) 2013-03-12 2015-02-17 Intellibot Robotics Llc Cleaning machine with collision prevention
US9764468B2 (en) 2013-03-15 2017-09-19 Brain Corporation Adaptive predictor apparatus and methods
CN105050775B (zh) 2013-03-15 2017-08-25 直观外科手术操作公司 软件可配置的操纵器自由度
US9008840B1 (en) 2013-04-19 2015-04-14 Brain Corporation Apparatus and methods for reinforcement-guided supervised learning
US9292015B2 (en) 2013-05-23 2016-03-22 Fluor Technologies Corporation Universal construction robotics interface
US20140358828A1 (en) 2013-05-29 2014-12-04 Purepredictive, Inc. Machine learning generated action plan
US9242372B2 (en) 2013-05-31 2016-01-26 Brain Corporation Adaptive robotic interface apparatus and methods
TWI585561B (zh) 2013-06-03 2017-06-01 新智控私人有限公司 機器人裝置的離機式導航方法與裝置
US9384443B2 (en) 2013-06-14 2016-07-05 Brain Corporation Robotic training apparatus and methods
US9792546B2 (en) 2013-06-14 2017-10-17 Brain Corporation Hierarchical robotic controller apparatus and methods
US20150032258A1 (en) 2013-07-29 2015-01-29 Brain Corporation Apparatus and methods for controlling of robotic devices
SG2013071808A (en) 2013-09-24 2015-04-29 Ctrlworks Pte Ltd Offboard navigation apparatus capable of being coupled to a movable platform
US9579789B2 (en) 2013-09-27 2017-02-28 Brain Corporation Apparatus and methods for training of robotic control arbitration
US9296101B2 (en) 2013-09-27 2016-03-29 Brain Corporation Robotic control arbitration apparatus and methods
US9144907B2 (en) 2013-10-24 2015-09-29 Harris Corporation Control synchronization for high-latency teleoperation
US10612939B2 (en) 2014-01-02 2020-04-07 Microsoft Technology Licensing, Llc Ground truth estimation for autonomous navigation
US10078712B2 (en) 2014-01-14 2018-09-18 Energid Technologies Corporation Digital proxy simulation of robotic hardware
US20150283703A1 (en) 2014-04-03 2015-10-08 Brain Corporation Apparatus and methods for remotely controlling robotic devices
US9346167B2 (en) 2014-04-29 2016-05-24 Brain Corporation Trainable convolutional network apparatus and methods for operating a robotic vehicle
US10255319B2 (en) 2014-05-02 2019-04-09 Google Llc Searchable index
US20150339589A1 (en) 2014-05-21 2015-11-26 Brain Corporation Apparatus and methods for training robots utilizing gaze-based saliency maps
CN104029203B (zh) * 2014-06-18 2017-07-18 大连大学 实现空间机械臂避障的路径规划方法
GB2528953A (en) 2014-08-07 2016-02-10 Nokia Technologies Oy An apparatus, method, computer program and user device for enabling control of a vehicle
US9475195B2 (en) 2014-09-12 2016-10-25 Toyota Jidosha Kabushiki Kaisha Anticipatory robot navigation
CN104317291A (zh) * 2014-09-16 2015-01-28 哈尔滨恒誉名翔科技有限公司 一种基于人工势场法的机器人避碰路径规划方法
US9403275B2 (en) * 2014-10-17 2016-08-02 GM Global Technology Operations LLC Dynamic obstacle avoidance in a robotic system
US9628477B2 (en) 2014-12-23 2017-04-18 Intel Corporation User profile selection using contextual authentication
WO2016168944A1 (en) 2015-04-24 2016-10-27 Avidbots Corp. Apparatus and methods for semi-autonomous cleaning of surfaces
CN104875882B (zh) * 2015-05-21 2018-02-27 合肥学院 四轴飞行器
CN105549597B (zh) * 2016-02-04 2018-06-26 同济大学 一种基于环境不确定性的无人车动态路径规划方法
CN105739507B (zh) * 2016-04-29 2018-11-20 昆山华恒机器人有限公司 一种机器人防碰撞的最优路径规划方法
US20170329347A1 (en) * 2016-05-11 2017-11-16 Brain Corporation Systems and methods for training a robot to autonomously travel a route
US10241514B2 (en) * 2016-05-11 2019-03-26 Brain Corporation Systems and methods for initializing a robot to autonomously travel a trained route
CN105955273A (zh) * 2016-05-25 2016-09-21 速感科技（北京）有限公司 室内机器人导航系统及方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101233714B1 (ko) * 2010-09-30 2013-02-18 아주대학교산학협력단 장애물 트랩을 회피하는 자율 이동 로봇 및 그 제어 방법
KR101133037B1 (ko) * 2011-12-01 2012-04-04 국방과학연구소 자율이동차량용 충돌회피를 위한 경로갱신방법 및 그 장치

Also Published As

Publication number Publication date
US10001780B2 (en) 2018-06-19
JP2020502630A (ja) 2020-01-23
EP3535630A4 (en) 2020-07-29
CN110023866A (zh) 2019-07-16
US20200004253A1 (en) 2020-01-02
US20180364724A1 (en) 2018-12-20
CN110023866B (zh) 2022-12-06
JP7061337B2 (ja) 2022-04-28
CA3042532A1 (en) 2018-05-11
EP3535630A1 (en) 2019-09-11
WO2018085294A1 (en) 2018-05-11
KR20190077050A (ko) 2019-07-02
US10379539B2 (en) 2019-08-13
US20180120856A1 (en) 2018-05-03

Similar Documents

Publication Publication Date Title
KR102528869B1 (ko) 자율 네비게이션에서 동적 노정을 계획하기 위한 시스템 및 방법
US11701778B2 (en) Systems and methods for robotic path planning
US20250068163A1 (en) Systems and methods for optimizing route planning for tight turns for robotic apparatuses
US12393196B2 (en) Systems and methods for training a robot to autonomously travel a route
US20210223779A1 (en) Systems and methods for rerouting robots to avoid no-go zones
CN110462540A (zh) 用于辅助机器人设备的系统和方法
JP2022512438A (ja) 非ホロノミックロボットシステムの改善された制御のためのシステム及び方法
HK40012306B (en) Systems and methods for dynamic route planning in autonomous navigation
HK40012306A (en) Systems and methods for dynamic route planning in autonomous navigation

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

A201 Request for examination
P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

D13-X000 Search requested

St.27 status event code: A-1-2-D10-D13-srh-X000

D14-X000 Search report completed

St.27 status event code: A-1-2-D10-D14-srh-X000

R18-X000 Changes to party contact information recorded

St.27 status event code: A-3-3-R10-R18-oth-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000