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    ROBOT CHARGER DOCKING LOCALIZATION
    2.
    发明申请
    ROBOT CHARGER DOCKING LOCALIZATION 审中-公开

    公开(公告)号：WO2019103935A1

    公开(公告)日：2019-05-31

    申请号：PCT/US2018/061567

    申请日：2018-11-16

    Applicant: LOCUS ROBOTICS CORP.

    Inventor： MOORE, Thomas ,  POWERS, Bradley ,  SUSSMAN, Michael ,  INSINGA, Aron K.

    IPC: G05D1/02

    CPC classification number: G05D1/0225 ,  B60L53/14 ,  B60L53/36 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0216 ,  H02J7/0045

    Abstract: A method, system, and wheeled base for navigating a robot for docking with a charger docking station (500). The robot (18) receives an initial pose (604) associated with a robot charger docking station (500) and a mating pose (602) associated with the robot charger docking station (500). The robot (18) first navigates from a location to an initial pose (604) using scan matching to a first map. The robot performs a second navigation (742) from the initial pose (604) to the mating pose (602) using scan matching to a second map, thereby causing an electrical charging port of the robot to mate with an electrical charging assembly of the robot charger docking station (500). Localization during charger docking may use a higher resolution map than when navigating to the docking station. Localizing against the robot charger docking station may be performed on a higher resolution map of the docking station alone.

    ROBOT OBSTACLE COLLISION PREDICTION AND AVOIDANCE
    3.
    发明申请
    ROBOT OBSTACLE COLLISION PREDICTION AND AVOIDANCE 审中-公开

    公开(公告)号：WO2021178614A1

    公开(公告)日：2021-09-10

    申请号：PCT/US2021/020790

    申请日：2021-03-04

    Applicant: LOCUS ROBOTICS CORP.

    Inventor： MOORE, Thomas

    IPC: G05D1/02

    Abstract: A method for predicting a collision between a mobile robot and an obstacle in an environment includes obtaining laser scan data for the mobile robot at a current location in the environment. The method also includes predicting a future location of the mobile robot in the environment and producing predicted laser scan data corresponding to the future location of the mobile robot in the environment. The method further includes assessing the predicted laser scan data relative to the mobile robot at the current location to determine whether a collision with an obstacle is predicted.

    ROBOT CHARGER DOCKING CONTROL
    4.
    发明申请
    ROBOT CHARGER DOCKING CONTROL 审中-公开

    公开(公告)号：WO2019103934A1

    公开(公告)日：2019-05-31

    申请号：PCT/US2018/061560

    申请日：2018-11-16

    Applicant: LOCUS ROBOTICS CORP.

    Inventor： MOORE, Thomas ,  POWERS, Bradley ,  KWA, Hian Kai

    IPC: G05D1/02

    CPC classification number: G05D1/0225 ,  B60L53/35 ,  G05D1/0236 ,  G05D2201/0216

    Abstract: A method and system for docking a robot with a charger docking station, including receiving an initial pose and receiving a mating pose associated with the robot charger docking station, performing a first navigation from a location to the initial pose, and performing a second navigation of the robot from the initial pose to the mating pose. The second navigation may proceed substantially along an arc path from the initial pose to the mating pose, thereby, upon arriving at the mating pose, an electrical charging port of the robot mates with an electrical charging assembly. The arc path may be associated with a section of a unique circle having a radius and a center equidistant from the initial pose and the mating pose. Controlling for error may include a proportional control and/or weighted control or switching between the controls to maintain an error below a threshold.

    DYNAMIC WINDOW APPROACH USING OPTIMAL RECIPROCAL COLLISION AVOIDANCE COST-CRITIC
    5.
    发明申请
    DYNAMIC WINDOW APPROACH USING OPTIMAL RECIPROCAL COLLISION AVOIDANCE COST-CRITIC 审中-公开

    公开(公告)号：WO2019060679A1

    公开(公告)日：2019-03-28

    申请号：PCT/US2018/052165

    申请日：2018-09-21

    Applicant: LOCUS ROBOTICS CORP.

    Inventor： MOORE, Thomas ,  POWERS, Bradley

    IPC: B60W30/08 ,  G01C21/34 ,  G06Q10/04 ,  G08G1/16 ,  G08G1/00 ,  G05D1/02 ,  G01D21/00 ,  G01C21/00

    Abstract: A method and system for navigation of a robot along a goal path and avoiding obstacles. The method includes receiving goal pose for one or more robots and determining a goal path for a first robot while avoiding moving and fixed obstacles of a received obstacle map. A first objective function is evaluated to select a preferred velocity from a generated set of candidate velocities, the selecting based on one or more weighted cost functions. A set of velocity obstacles created based on the poses of the one or more robots and the preferred velocity is used in evaluating a second objective function to determine the motion of the robot in the next time cycle. Creating the set of velocity objects includes converting the preferred velocity from a non-holonomic to a holonomic velocity.

    MULTI-RESOLUTION SCAN MATCHING WITH EXCLUSION ZONES
    6.
    发明申请
    MULTI-RESOLUTION SCAN MATCHING WITH EXCLUSION ZONES 审中-公开

    公开(公告)号：WO2019060700A1

    公开(公告)日：2019-03-28

    申请号：PCT/US2018/052190

    申请日：2018-09-21

    Applicant: LOCUS ROBOTICS CORP.

    Inventor： MOORE, Thomas ,  POWERS, Bradley

    IPC: G05D1/02 ,  G01C21/00 ,  B25J9/16

    Abstract: A method for navigating a robot from a current pose to a goal pose. A map represents obstacles and free space within an area for robot navigation. A matching map pyramid and an exclusion map pyramid are constructed based on the map and decimations from a highest resolution to successively lower resolutions of the map pyramids. Current pose for navigating from a current location to a goal pose along a goal path includes determining a search area and creating a search heap. Scoring of search tasks on the search heap determines a best candidate pose at a highest resolution matching map, or expands the search heap with search tasks at the next higher resolution matching map. Expanding the search heap at the next higher resolution matching map avoids search tasks that would localize the robot in an exclusion zone.

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