Method and apparatus for moving in minimum cost path using grid map
AssigneeSamsung Electronics Co., Ltd.
InventorsJun-ho Park, Hyoung-ki Lee
Life of this patent
Estimating the term…
Abstract
A method of moving in a minimum cost path using a grid map, and an apparatus to perform the method, the method including calculating a move cost to a goal, from each of a plurality of cells comprises in a space in which a mobile home appliance moves, and planning a movement path to the goal according to the move cost; determining one or more via points at which a direction changes on the movement path; planning the minimum cost path from the movement path by selecting one or more shortest-distance via points from the via points; and moving from a first shortest-distance via point to a second shortest-distance via point.
Claims45
A method of moving in a minimum cost path using a grid map, the method comprising:
- calculating a move cost to a goal, from each of a plurality of cells comprised in a space in which a mobile home appliance moves, and planning a movement path to the goal according to the move cost;
- determining one or more via points at which a direction changes on the movement path;
- planning the minimum cost path from the movement path by selecting one or more shortest-distance via points from the via points;
- and
- moving from a first shortest-distance via point to a second shortest-distance via point.
A method of moving in a minimum cost path using a grid map, the method comprising:
- dividing a space, in which a mobile home appliance moves, into a plurality of cells including a start point and a goal, and planning the minimum cost path according to cell-unit movement;
- and
- moving from a first cell to a second cell in the minimum cost path;
- wherein a movement direction is calculated from physical positions of the first and second cells in response to the first cell and the second cell not neighboring one another.
A mobile home appliance comprising:
- a moving unit to be moved by a dynamic force;
- and
- a control unit to plan a path in which the moving unit moves, and to control the moving unit to move in the path;
- wherein the control unit comprises:
- a path planner to calculate a move cost to a goal, from each of a plurality of cells comprised in a space in which a mobile home appliance moves, and to plan a movement path to the goal according to the move cost,
- a via point finder to find one or more via points at which a direction changes on the movement path, and
- a minimum cost path planner to plan a minimum cost path from the movement path by selecting one or more shortest-distance via points from the via points.
At least one computer readable medium storing instructions that control at least one processor to perform a method of moving in a minimum cost path using a grid map, the method comprising:
- calculating a move cost to a goal, from each of a plurality of cells comprised in a space in which a mobile home appliance moves, and planning a movement path to the goal according to the move cost;
- determining one or more via points at which a direction changes on the movement path;
- planning the minimum cost path from the movement path by selecting one or more shortest-distance via points from the via points;
- and
- moving from a first shortest-distance via point to a second shortest-distance via point.
At least one computer readable medium storing instructions that control at least one processor to perform a method of moving in a minimum cost path using a grid map, the method comprising:
- dividing a space, in which a mobile home appliance moves, into a plurality of cells including a start point and a goal, and planning the minimum cost path according to cell-unit movement;
- and
- moving from a first cell to a second cell in the minimum cost path,
- wherein a movement direction is calculated from physical positions of the first and second cells in response to the first cell and the second cell not neighboring one another.
A method of moving in a minimum cost path using a grid map, the method comprising:
- determining one or more via points at which a direction changes on a movement path;
- planning the minimum cost path from the movement path by selecting one or more shortest-distance via points from the via points;
- and
- moving from a first shortest-distance via point to a second shortest-distance via point.
A method of moving a mobile home appliance in a minimum cost path using a grid map, the method comprising:
- moving from a first cell to a second cell in the minimum cost path;
- wherein a movement direction is determined from positions of the first and second cells in response to the first and second cells not neighboring one another.
A method of moving a mobile home appliance in a minimum cost path using a grid map having a plurality of cells, the method comprising:
- determining via points at which a direction changes on a movement path;
- and
- moving from a first via point to a second via point among the via points;
- wherein at least one of the via points exists at an intermediate point on the movement path between the first and second via points.
A method of planning a minimum cost path on which a mobile home appliance moves using a grid map, the method comprising:
- determining one or more via points at which a direction changes on a movement path;
- and
- planning the minimum cost path from the movement path by selecting one or more shortest-distance via points from the via points;
- wherein the minimum cost path extends from a first shortest-distance via point to a second shortest-distance via point.
A method of planning a minimum cost path on which a mobile home appliance moves using a grid map having a plurality of cells, the method comprising:
- determining via points at which a direction changes on a movement path;
- and
- planning at least a portion of the minimum cost path from a first via point to a second via point among the via points;
- wherein at least one of the via points exists at an intermediate point on the movement path between the first and second via points.
Dependencies are inferred from the claim text.