Simultaneous mapping and planning by a robot
A method substantially simultaneously plans a path and maps an environment by a robot. The method determines a mean of an occupancy level for a location in a map. The method also includes determining a probability distribution function (PDF) of the occupancy level. The method further includes calculating a cost function based on the PDF. Finally, the method includes simultaneously planning the path and mapping the environment based on the cost function.
1. A method of substantially simultaneously planning a path and mapping an environment by a robot, comprising:
determining a mean of an occupancy level for a location in a map;
determining a probability distribution function (PDF) of the occupancy level;
calculating a cost function based on the mean occupancy level and a variance of the occupancy level obtained from the PDF; and
simultaneously planning the path and mapping the environment based on the cost function.
2. The method of claim 1 , further comprising mapping the environment based on the mean occupancy level and the PDF.
3. The method of claim 1 , in which the simultaneously planning further comprises evaluating a predicted density for each voxel along each of a plurality of candidate trajectories.
4. The method of claim 1 , further comprising planning the path based on predicted maps.
5. The method of claim 1 , further comprising selecting a trajectory based on the simultaneous planning and mapping.
6. An apparatus for substantially simultaneously planning a path and mapping an environment, the apparatus comprising:
a memory;
at least one processor coupled to the memory, the at least one processor configured:
to determine a mean of an occupancy level for a location in a map;
to determine a probability distribution function (PDF) of the occupancy level;
to calculate a cost function based on the mean occupancy level and a variance of the occupancy level obtained from the PDF; and
to simultaneously plan the path and map the environment based on the cost function.
7. The apparatus of claim 6 , in which the at least one processor is further configured to map the environment based on the mean occupancy level and the PDF.
8. The apparatus of claim 6 , in which the at least one processor is further configured to evaluate a predicted density for each voxel along each of a plurality of candidate trajectories.
9. The apparatus of claim 6 , in which the at least one processor is further configured to plan the path based on predicted maps.
10. The apparatus of claim 6 , in which the at least one processor is further configured to select a trajectory based on the simultaneous planning and mapping.
11. An apparatus for substantially simultaneously planning a path and mapping an environment, the apparatus comprising:
means for determining a mean of an occupancy level for a location in a map;
means for determining a probability distribution function (PDF) of the occupancy level;
means for calculating a cost function based on the mean occupancy level and a variance of the occupancy level obtained from the PDF; and
means for simultaneously planning the path and mapping the environment based on the cost function.
12. The apparatus of claim 11 , further comprising means for mapping the environment based on the mean occupancy level and the PDF.
13. The apparatus of claim 11 , further comprising means for evaluating a predicted density for each voxel along each of a plurality of candidate trajectories.
14. The apparatus of claim 11 , further comprising means for planning the path based on predicted maps.
15. The apparatus of claim 11 , further comprising means for selecting a trajectory based on the simultaneous planning and mapping.
16. A non-transitory computer-readable medium having program code recorded thereon for substantially simultaneously planning a path and mapping an environment for a robot, the program code being executed by a processor and comprising:
program code to determine a mean of an occupancy level for a location in a map;
program code to determine a probability distribution function (PDF) of the occupancy level;
program code to calculate a cost function based on the mean occupancy level and a variance of the occupancy level obtained from the PDF; and
program code to simultaneously plan the path and map the environment based on the cost function.
17. The non-transitory computer-readable medium of claim 16 , in which the program code further comprises program code to map the environment based on the mean occupancy level and the PDF.
18. The non-transitory computer-readable medium of claim 16 , in which the program code further comprises program code to evaluate a predicted density for each voxel along each of a plurality of candidate trajectories.
19. The non-transitory computer-readable medium of claim 16 , in which the program code further comprises program code to plan the path based on predicted maps.
20. The non-transitory computer-readable medium of claim 16 , in which the program code further comprises program code to select a trajectory based on the simultaneous planning and mapping.