Driverless Robot Path Planning Across Multiple Reference Systems

The patent merges the environment-related reference system and object-related reference system by transforming both into a common reference system (typically the environment-related system). This allows path segments from different reference systems to be continuously connected without requiring the robot to stop during transitions, as all paths are planned in the same coordinate framework.

The common reference system acts as an intermediary that mediates between the environment-related reference system and the object-related reference system. By transforming poses and path segments into this intermediate common framework, the system enables seamless transitions without stopping, as the common reference system provides a unified coordinate space for continuous path planning.

When the environment is divided into multiple reference systems, the patent uses a common reference system as an intermediary to transform and connect path segments from different environment maps. This allows continuous path planning across multiple divided environments while maintaining storage efficiency, as each local environment can still be stored separately but connected through transformation to the common reference system.

The patent introduces an additional dimensional layer by creating a common reference system that sits above and connects multiple environment-related reference systems. This dimensional approach allows the system to maintain separate stored environments for efficiency while enabling continuous navigation across them through transformation operations in the common reference framework.