CONSTRUCTION CONSTRAINED MOTION PRIMITIVES FROM ROBOT MAPS
A method includes receiving sensor data of an environment about a robot and generating a plurality of waypoints and a plurality of edges each connecting a pair of the waypoints. The method includes receiving a target destination for the robot to navigate to and determining a route specification based on waypoints and corresponding edges for the robot to follow for navigating the robot to the target destination selected from waypoints and edges previously generated. For each waypoint, the method includes generating a goal region encompassing the corresponding waypoint and generating at least one constraint region encompassing a goal region. The at least one constraint region establishes boundaries for the robot to remain within while traversing toward the target destination. The method includes navigating the robot to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.
1 . A method comprising:
receiving, at data processing hardware, a navigation command to navigate a robot to a mission destination;
generating, by the data processing hardware, a route specification for navigating the robot from a current location to the mission destination, the route specification comprising a series of route segments, wherein a first route segment of the series of route segments comprises:
a goal region;
a constraint region encompassing the goal region, the constraint region establishing boundaries for the robot to remain within while traversing toward the goal region; and
an initial path for the robot to follow while traversing the first route segment;
instructing, by the data processing hardware, the robot to traverse the initial path; and
selecting, by the data processing hardware, a size of the constraint region to guide navigation of the robot for the first route segment.
2 . The method of claim 1 , wherein the size of the constraint region is selected based on a capability of a sensor of the robot and/or a fidelity of a map including the mission destination.
3 . The method of claim 1 , further comprising:
receiving, at the data processing hardware, sensor data from a sensor of the robot; and
determining, by the data processing hardware, the current location of the robot based on the sensor data and a map, the map including the mission destination and the route specification.
4 . The method of claim 3 , wherein the size of the constraint region is selected to enable the robot to determine the current location of the robot within the map.
5 . The method of claim 1 , further comprising:
selecting, by the data processing hardware, a size of the goal region to guide navigation of the robot for the first route segment.
6 . The method of claim 1 , wherein the constraint region encompassing the goal region for the first route segment also encompasses a goal region associated with a second route segment of the series of route segments, and wherein the second route segment overlaps the first route segment.
7 . The method of claim 1 , further comprising:
implementing, by the data processing hardware, a first navigation system configured to:
receive the navigation command,
generate the route specification, and
generate the constraint region for the first route segment; and
implementing, by the data processing hardware, a second navigation system configured to:
receive the constraint region and the initial path from the first navigation system, and
generate a step plan for the robot to navigate the initial path.
8 . The method of claim 1 , wherein generating the route specification includes selecting a series of waypoints and corresponding edges from a map.
9 . The method of claim 8 , wherein the first route segment further includes a corresponding one of the edges, the edge of the first route segment connecting a pair of waypoints of the series of waypoints encompassed by the first route segment.
10 . The method of claim 9 , wherein the goal region of the first route segment comprises one of the pair of waypoints.
11 . A robot, comprising:
a body;
two or more legs;
at least one sensor configured to generate sensor data of an environment of the robot;
data processing hardware; and
memory hardware having stored thereon instruction that, when executed by the data processing hardware, cause the data processing hardware to:
receive a navigation command to navigate the robot to a mission destination;
generate a route specification for navigating the robot from a current location to the mission destination, the route specification comprising a series of route segments, wherein a first route segment of the series of route segments comprises:
a goal region;
a constraint region encompassing the goal region, the constraint region establishing boundaries for the robot to remain within while traversing toward the goal region; and
an initial path for the robot to follow while traversing the first route segment;
instruct the robot to traverse the initial path; and
select a size of the constraint region to guide navigation of the robot for the first route segment.
12 . The robot of claim 11 , wherein the size of the constraint region is selected based on a capability of a sensor of the robot and/or a fidelity of a map including the mission destination.
13 . The robot of claim 11 , wherein the instructions, when executed by the data processing hardware, further cause the data processing hardware to:
determine the current location of the robot based on the sensor data and a map, the map including the mission destination and the route specification.
14 . The robot of claim 13 , wherein the size of the constraint region is selected to enable the robot to determine the current location of the robot within the map.
15 . The robot of claim 11 , wherein the instructions, when executed by the data processing hardware, further cause the data processing hardware to:
select a size of the goal region to guide navigation of the robot for the first route segment.
16 . The robot of claim 11 , wherein the constraint region encompassing the goal region for the first route segment also encompasses a goal region associated with a second route segment of the series of route segments, and wherein the second route segment overlaps the first route segment.
17 . The robot of claim 11 , wherein the instructions, when executed by the data processing hardware, further cause the data processing hardware to:
implement a first navigation system configured to:
receive the navigation command,
generate the route specification, and
generate the constraint region for the first route segment; and
implement a second navigation system configured to:
receive the constraint region and the initial path from the first navigation system, and
generate a step plan for the robot to navigate the initial path.
18 . The robot of claim 11 , wherein generating the route specification includes selecting a series of waypoints and corresponding edges from a map.
19 . The robot of claim 18 , wherein the first route segment further includes a corresponding one of the edges, the edge of the first route segment connecting a pair of waypoints of the series of waypoints encompassed by the first route segment.
20 . The robot of claim 19 , wherein the goal region of the first route segment comprises one of the pair of waypoints.