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AssigneeSamsung Electronics Co., Ltd.
InventorsMyung Hee Kim, Kyung Shik Roh, San Lim, Bok Man Lim, Guochunxu
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If a manipulator of a robot falls in local minima when expanding a node to generate a path, the manipulator may efficiently escape from local minima by any one of a random escaping method and a goal function changing method or a combination thereof to generate the path. When the solution of inverse kinematics is not obtained due to local minima or when the solution of inverse kinematics is not obtained due to an inaccurate goal function, an optimal motion path to avoid an obstacle may be efficiently searched for. The speed to obtain the solution may be increased and thus the time consumed to search for the optimal motion path may be shortened.
A method of planning a motion path of a robot, the method including forming a configuration space having information about a start point, a goal point, constraints and a goal function, expanding a tree using a certain point selected in the configuration space and a node having a smallest goal score in the tree, and planning the path of a manipulator of the robot, the method comprising:
A method of planning a path of a robot, the method including forming a configuration space having information about a start point, a goal point, constraints and a goal function, expanding a tree using a certain point selected in the configuration space and a node having a smallest goal score in the tree, and planning the path of a manipulator of the robot, the method comprising:
An apparatus to plan a motion path of a robot, the apparatus forming a configuration space having information about a start point, a goal point, constraints and a goal function, expanding a tree using a certain point selected in the configuration space and a node having a smallest goal score in the tree, and planning the path of a manipulator of the robot, the apparatus comprising:
An apparatus to plan a path of a robot, the apparatus forming a configuration space having information about a start point, a goal point, constraints and a goal function, expanding a tree using a certain point selected in the configuration space and a node having a smallest goal score in the tree, and planning the path of a manipulator of the robot, the apparatus comprising:
Dependencies are inferred from the claim text.