Occupancy change detection system and method

Bruemmer, David J; Few, Douglas A

Occupancy change detection system and method

Patent · Tue Sep 01 04:00:00 EDT 2009

OSTI ID:988839

Bruemmer, David J ^[1]; Few, Douglas A ^[1]

Idaho Falls, ID

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.

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Research Organization:: Idaho National Laboratory (INL), Idaho Falls, ID (United States)

Sponsoring Organization:: USDOE

DOE Contract Number:: AC07-05ID14517

Assignee:: Battelle Energy Alliance, LLC (Idaho Falls, ID)

Patent Number(s):: 7,584,020

Application Number:: 11/428,646

OSTI ID:: 988839

Country of Publication:: United States

Language:: English

References (16)

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