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1. WO2020194253 - GENERATING A 2D-NAVIGATION MAP FOR COLLISION-FREE NAVIGATION BY MULTIPLE ROBOTS

Publication Number WO/2020/194253
Publication Date 01.10.2020
International Application No. PCT/IB2020/052920
International Filing Date 27.03.2020
IPC
G05D 1/02 2020.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
G01C 21/3461
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
34Route searching; Route guidance
3453Special cost functions, i.e. other than distance or default speed limit of road segments
3461Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
G01C 21/3626
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
34Route searching; Route guidance
36Input/output arrangements for on-board computers
3626Details of the output of route guidance instructions
G01C 21/3667
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
34Route searching; Route guidance
36Input/output arrangements for on-board computers
3667Display of a road map
G06T 11/20
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
112D [Two Dimensional] image generation
20Drawing from basic elements, e.g. lines or circles
G06T 11/60
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
112D [Two Dimensional] image generation
60Editing figures and text; Combining figures or text
Applicants
  • RAPYUTA ROBOTICS CO., LTD. [JP]/[JP]
Inventors
  • LI, Wen Zheng
  • SKUBCH, Hendrik
Priority Data
16/366,28627.03.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) GENERATING A 2D-NAVIGATION MAP FOR COLLISION-FREE NAVIGATION BY MULTIPLE ROBOTS
(FR) GÉNÉRATION D'UNE CARTE DE NAVIGATION EN 2D POUR NAVIGATION SANS COLLISION PAR DE MULTIPLES ROBOTS
Abstract
(EN)
Embodiments herein disclose methods and systems for generating 2D-navigation map for collision-free navigation by plurality of robots. Initially, 2D-navigation map generator executing at a cloud map server initiates particle simulation to add plurality of bubbles to an image of an area. Next the 2D-navigation map generator executing at cloud map server, process the bubble simulation to determine set of bubbles from the plurality of robots on the image that overlap free spaces of the area in the image. Next 2D-navigation map generator executing at the cloud map server, generates 2D-navigation map by connecting the set of bubbles using a plurality of edges, wherein the plurality of edges indicate a navigation path to navigate within the area. Finally, based on the generated 2D-navigation map, the plurality of robots traversing from a current location to another location.
(FR)
Des modes de réalisation de la présente invention concernent des procédés et des systèmes pour générer une carte de navigation en 2D pour une navigation sans collision par une pluralité de robots. Initialement, un générateur de carte de navigation en 2D s'exécutant au niveau d'un serveur de carte en nuage lance une simulation de particules pour ajouter une pluralité de bulles à une image d'une zone. Ensuite, le générateur de carte de navigation en 2D s'exécutant au niveau du serveur de carte en nuage traite la simulation de bulles pour déterminer un ensemble de bulles à partir de la pluralité de robots sur l'image qui chevauchent des espaces libres de la zone dans l'image. Par la suite, un générateur de carte de navigation en 2D s'exécutant au niveau du serveur de carte en nuage génère une carte de navigation en 2D en connectant l'ensemble de bulles à l'aide d'une pluralité de bords, la pluralité de bords indiquant un trajet de navigation pour naviguer à l'intérieur de la zone. Enfin, sur la base de la carte de navigation en 2D générée, la pluralité de robots passent d'un emplacement actuel à un autre emplacement.
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