Path planning device
AssigneeToyota Jidosha Kabushiki Kaisha
InventorShintaro Yoshizawa
Life of this patent
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Abstract
A path generating device 1 has a constraint mid-configuration generator 10. The constraint mid-configuration generator 10 defines a constraint surface in a joint angle space. The path generating device 1 probabilistically generates a mid-configuration in the joint angle space. The constraint mid-configuration generator 10 projects the probabilistically generated mid-configuration onto the constraint surface to generate a projected mid-configuration. Projected mid-configurations generated in this manner are joined to generate a path that does not interfere with any obstacle (environmental object) in a work space.
Claims6
A path planning apparatus for planning a path in movement of a moving object from an initial position to a final position, which is adapted to probabilistically generate a midpoint between the initial position and the final position and to plan a path between the initial position and the final position, using the midpoint, the path planning apparatus comprising:
- constraint setting means for setting a constraint subspace satisfying a constraint to constrain a configuration of the moving object in a work space where the moving object exists, in a movable space defined based on degrees of freedom of the moving object to determine a configuration of the moving object;
- midpoint generating means for generating a constraint midpoint by projecting a midpoint probabilistically generated in the movable space onto the constraint subspace;
- path generating means for generating a path connecting the initial position and the final position using the constraint midpoint;
- and
- path correcting means for correcting the generated path based on the constraint, wherein
- the constraint setting means defines the constraint subspace satisfying the constraint in the movable space as the constraint,
- the path correcting means corrects the path by performing a projection to project the path generated by the path generating means onto the constraint subspace, and
- if a distance between the path generated by the path generating means and a constraint surface is not less than a predetermined value, then the path correcting means performs a projection onto the constraint surface to correct the path.
A path planning apparatus for planning a path in movement of a moving object from an initial position to a final position, which is adapted to probabilistically generate a midpoint between the initial position and the final position and to plan a path between the initial position and the final position, using the midpoint, the path planning apparatus comprising:
- a constraint setting module configured to set a constraint subspace satisfying a constraint to constrain a configuration of the moving object in a work space where the moving object exists, in a movable space defined based on degrees of freedom of the moving object to determine a configuration of the moving object;
- a midpoint generator configured to generate a constraint midpoint by projecting a midpoint probabilistically generated in the movable space onto the constraint subspace;
- a path generator configured to generate a path connecting the initial position and the final position using the constraint midpoint;
- and
- a path corrector configured to correct the generated path based on the constraint, wherein
- the constraint setting module defines the constraint subspace satisfying the constraint in the movable space as the constraint,
- the path corrector corrects the path by performing a projection to project the path generated by the path generator onto the constraint subspace, and
- if a distance between the path generated by the path generator and a constraint surface is not less than a predetermined value, then the path correcting means performs a projection onto the constraint surface to correct the path.
A path planning apparatus for planning a path in movement of a moving object from an initial position to a final position, which is adapted to probabilistically generate a midpoint between the initial position and the final position and to plan a path between the initial position and the final position, using the midpoint, the path planning apparatus comprising:
- constraint setting means for setting a constraint subspace satisfying a constraint to constrain a configuration of the moving object in a work space where the moving object exists, in a movable space defined based on degrees of freedom of the moving object to determine a configuration of the moving object;
- midpoint generating means for:
- (1) setting a constraint ellipsoid satisfying an arbitrary position satisfying the constraint and a neighborhood point near said arbitrary position in the movable space,
- (2) defining a probability distribution using the constraint ellipsoid, and
- (3) generating a random number, based on the probability distribution, as a candidate constraint midpoint, the random number indicating a configuration of the moving object;
- and
- path generating means for:
- (a) generating a path connecting the initial position and the final position using the candidate constraint midpoint,
- (b) determining whether the generated path interferes with an obstacle, and
- (c) in response to determining the path interferes with an obstacle, causing the midpoint generating means to generate a different random number, based on the probability distribution, as a new candidate constraint midpoint and sequentially generating a path connecting the initial position and the final position using the candidate constraint midpoint.
Dependencies are inferred from the claim text.