Device for planning path of mobile robot and method for planning path of mobile robot
AssigneeHanwha Defense Co., Ltd.
InventorJin Han Lee
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Abstract
Disclosed are a device for planning a path of a mobile robot and a method for planning a path of a mobile robot. The device for planning a path of a mobile robot and the method for planning a path of a mobile robot, according to the present invention, extend a route planning tree by sampling grid-based nodes between a start point and a target point of the mobile robot. Therefore, the present invention can configure a path plan of the mobile robot to be a path optimized within a quick time.
Claims15
A path planning apparatus of a mobile robot, comprising:
- a recognition unit recognizing an obstacle located between starting point and goal point of the mobile robot and setting grid-based nodes based on the recognized obstacle and kinematic characteristics of the mobile robot;
- and
- a path planning creation unit sampling the grid-based nodes to expand a path planning tree for movement control of the mobile robot,
- wherein the path planning creation unit performs the sampling of the grid-based nodes without considering the kinematic characteristics of the mobile robot.
A path planning apparatus of a mobile robot, comprising:
- a recognition unit recognizing an obstacle located between a starting point and a goal point of the mobile robot and setting grid-based nodes based on the recognized obstacle and kinematic characteristics of the mobile robot;
- and
- a path planning creation unit sampling the grid-based nodes to expand a path planning tree for movement control of the mobile robot,
- wherein the path planning creation unit compares a first path function including a function of a distance from the sampled node to the goal point and a direction vector with a second path function including a function of a distance from current position of the mobile robot to the goal point and a direction vector.
A path planning method of a mobile robot, comprising:
- setting starting point and goal point in movement area of a mobile robot on a basis of a grip map;
- recognizing an obstacle located between the starting point and goal point of the mobile robot and setting grid-based nodes based on the recognized obstacle and kinematic characteristics of the mobile robot;
- and
- sampling the grid-based nodes to expand a path planning tree for movement control of the mobile robot,
- wherein, in the expanding the path planning tree, the grid-based nodes are sampled without considering the kinematic characteristics of the mobile robot.
Dependencies are inferred from the claim text.