Control system and method for robotic motion planning and control
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United States of America Patent
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Mar 12, 2024
Grant Date -
Nov 5, 2020
app pub date -
Jul 21, 2020
filing date -
May 1, 2015
priority date (Note) -
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status (Latency Note)
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Abstract
A system includes a robotic vehicle having a propulsion and a manipulator configured to perform designated tasks. The system also including a local controller disposed onboard the robotic vehicle and configured to receive input signals from an off-board controller. Responsive to receiving an input signal for moving in an autonomous mode, the local controller is configured to move the robotic vehicle toward one of the different final destinations by autonomously and iteratively determining a series of waypoints until the robotic vehicle has reached the one final destination. For each iteration, the local controller is configured to determine a next waypoint between a current location of the robotic vehicle and the final destination, determine movement limitations of the robotic vehicle, and generate control signals in accordance with the movement limitations.
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