Trajectory generation device, moving object, trajectory generation method
AssigneeToyota Jidosha Kabushiki Kaisha
InventorKoji Terada
Life of this patent
Estimating the term…
Abstract
A trajectory generation device includes a storage unit that stores a plurality of trajectories; a trajectory acquisition unit that acquires a trajectory, corresponding to an environment similar to a current environment, from the plurality of trajectories stored in the storage unit; and a trajectory generation unit that calculates a longest trajectory part, which is present in a moving object moving area in the trajectory acquired by the trajectory acquisition unit, and generates a trajectory by connecting both ends of the calculated longest trajectory part to a predetermined start point and a predetermined end point respectively.
Claims6
A moving object trajectory generation device, comprising:
- a control unit including a central processing unit that performs control processing, the control unit configured to:
- store a plurality of moving object trajectories, wherein each of the plurality of moving object trajectories corresponds to a stored motion planning input among a plurality of stored motion planning inputs;
- acquire a trajectory of a moving object corresponding to a motion planning input and compare the acquired motion planning input with each of the plurality of the stored motion planning inputs in order to determine a corresponding reference moving object trajectory among the plurality of moving object trajectories stored, wherein the reference moving object trajectory includes at least one through-obstacle portion and at least one unobstructed portion of the trajectory;
- and
- extract a longest unobstructed portion from the reference moving object trajectory determined by the control unit,
- generate a connection trajectory by connecting both ends of the extracted longest unobstructed trajectory part to a predetermined start point and a predetermined end point respectively, and
- wherein the moving object moves based on the connection trajectory generated by the control unit.
A trajectory generation method for a robot, comprising:
- acquiring a trajectory by a control unit, corresponding to an environment similar to a current environment, from a plurality of trajectories stored in a storage unit, wherein the acquired trajectory includes at least one through-obstacle portion and at least one unobstructed portion of the trajectory, and;
- extracting a longest unobstructed portion from the acquired trajectory, which is present in a moving area of an arm of the robot within the acquired trajectory by the control unit;
- and
- generating a connection trajectory by the control unit by connecting both ends of the extracted longest unobstructed trajectory part to a predetermined start point and a predetermined end point respectively, and
- moving the robot based on the connection trajectory generated by the control unit.
Dependencies are inferred from the claim text.