Patents
US 12769328 B2: Collision-free dynamic window approach for moving obstacles
- Granted
- 2026-10-20
- Filed
- 2022-10-25 application 18705134
- Type
- Utility · 20 claims
- Elsewhere
- Google Patents ↗ · USPTO patent document ↗ · USPTO Patent Center record ↗
Abstract
A robot is navigated to a target location passively collision-free. An obstacle (21) is detected by sensors. An obstacle velocity dynamic window is calculated within a control cycle. An obstacle mobility boundary is determined and inflated to an inflated boundary that includes a collision threshold. Admissible velocities of the robot are identified as those in which the robot would be outside the inflated boundary at a next control cycle or the robot velocity is reduced if there is no admissible velocity. An optimal velocity among admissible velocities is selected. The position of the robot is updated, and the process is repeated until the target location is reached. Without the use of an inflated boundary, admissible velocities of the robot are identified as those that avoid projected obstacle boundaries for a preset number of possible obstacle trajectories.
Source: PTBLXML, file of 2026-10-20 (ipgb20261020.xml).
Assignees
| Assignee | Type | Place | Also on furp.org | Source |
|---|---|---|---|---|
| Rutgers, The State University of New Jersey 917 patents | US company or organization | New Brunswick, NJ | RUTGERS - THE STATE UNIVERSITY OF NEW JERSEY Federal lobbying client EXACT high confidence: identical full name and state | PTBLXML, file of 2026-10-20 |
Inventors
| Inventor | Place | Patents | Person page | Source |
|---|---|---|---|---|
| Zhimin Xi | Basking Ridge, NJ | PTBLXML, file of 2026-10-20 |
CPC categories
| Subclass | Category | First group | Source |
|---|---|---|---|
| G05D | Systems for controlling or regulating non-electric variables | G05D1/633 | PTBLXML, file of 2026-10-20 |
Cooperative Patent Classification, as currently assigned (one row per subclass).
Assignments and security interests
No recorded assignments or security interests on file for this patent.
USPTO bulk data: PatentsView granted patents, disambiguated (PVGPATDIS) for patents, assignees, inventors, places and CPC categories; the USPTO Patent Assignment Dataset (ECORSEXC) for assignments and security interests. Patents filed in the last 20 years. No claims or full text. Links to other records are by name (and state): EXACT means the identical full name and state; FUZZY means a looser name match, with the confidence shown.