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US 12,743,101 B2Granted
Electronic device and control method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorGi Yong Park
Life of this patent
Estimating the term…
Abstract
In the electronic device, and a control method thereof, the at least one processor can obtain a sub-map, from the semantic map, including a candidate area in which a robot is able to be located according to a movement command, where the candidate area is within a set distance relative to a position of the target object, segment the candidate area into a plurality of cells, based on a footprint of the robot, and determine a target cell among the plurality of cells, based on one of or any combination of a first input about a cost of each of the plurality of cells, a second input about a cell-target distance between each of the plurality of cells and the target object, or a third input about a cell-robot distance between each of the plurality of cells and the robot.
Claims16
An electronic device, comprising:
- one or more processors;
- and
- a storage medium storing computer-readable instructions that, when executed by the one or more processors, enable the one or more processors to:
- obtain, from a semantic map, a sub-map including a candidate area in which a robot is able to be located according to a movement command to move the robot to a target object, wherein the candidate area is within a set distance with respect to a target object position of the target object;
- segment the candidate area into a plurality of cells, based on a footprint of the robot;
- determine a target cell among the plurality of cells, wherein the target cell is a destination of the movement command among the plurality of cells, based on one of or any combination of a first input about a cost of each of the plurality of cells, a second input about a cell-target distance between each of the plurality of cells and the target object, and a third input about a cell-robot distance between each of the plurality of cells and the robot;
- apply the sub-map to a map-based global cost map generated based on sensor data to obtain the cost of each of the plurality of cells;
- determine a first sub-input of a temporary cell among the plurality of cells, the first sub-input being included in the first input, based on comparing a temporary cell cost of the temporary cell and a threshold cost;
- determine a second sub-input of the temporary cell, the second sub-input being included in the second input, based on a first distance being a straight distance between a temporary cell center position of the temporary cell and the target object;
- determine a third sub-input of the temporary cell, the third sub-input being included in the third input, based on a second distance being a path distance for a path along which the robot would travel to the temporary cell center position of the temporary cell;
- determine a movement cost of the temporary cell, based on one of or any combination of the first sub-input, the second sub-input, and the third sub-input;
- and
- control the robot to move to a target cell center position of the target cell, based on the target cell being determined.
10 more elements
A control method, comprising:
- identifying a movement command from command data;
- obtaining a sub-map, from a semantic map, including a candidate area in which a robot is able to be located according to the movement command to move the robot to a target object, wherein the candidate area is within a set distance with respect to a target object position of the target object;
- segmenting the candidate area into a plurality of cells, based on a footprint of the robot;
- determining a target cell among the plurality of cells, wherein the target cell is a destination of the movement command among the plurality of cells, based on one of or any combination of a first input about a cost of each of the plurality of cells, a second input about a cell-target distance between each of the plurality of cells and the target object, and a third input about a cell-robot distance between each of the plurality of cells and the robot;
- and
- controlling the robot to move to a target cell center position of the target cell, based on the determining of the target cell,
- wherein determining the target cell includes:
- applying the sub-map to a map-based global cost map generated based on sensor data to obtain the cost of each of the plurality of cells;
- determining a first sub-input of a temporary cell among the plurality of cells, the first sub-input being included in the first input, based on comparing a temporary cell cost of the temporary cell and a threshold cost;
- determining a second sub-input of the temporary cell, the second sub-input being included in the second input, based on a first distance being a straight distance between a temporary cell center position of the temporary cell and the target object;
- determining a third sub-input of the temporary cell, the third sub-input being included in the third input, based on a second distance being a path distance for a path along which the robot would travel to the temporary cell center position of the temporary cell;
- and
- determining a movement cost of the temporary cell, based on one of or any combination of the first sub-input, the second sub-input, and the third sub-input.
10 more elements
Dependencies are inferred from the claim text.