Specialized robot motion planning hardware and methods of making and using same
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United States of America Patent
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Jul 28, 2020
Grant Date -
Jan 4, 2018
app pub date -
Jan 5, 2016
filing date -
Jan 26, 2015
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Abstract
Specialized robot motion planning hardware and methods of making and using same are provided. A robot-specific hardware can be designed using a tool that receives a robot description comprising a collision geometry of a robot, degrees of freedom for each joint of the robot, and joint limits of the robot; receives a scenario description; generates a probabilistic roadmap (PRM) using the robot description and the scenario description; and for each edge of PRM, produces a collision detection unit comprising a circuit indicating all parts of obstacles that collide with that edge. The hardware is implemented as parallel collision detection units that provide collision detection results used to remove edges from the PRM that is searched to find a path to a goal position.
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