Robot control system and method for planning driving path of robot
First Claim
1. A method for planning a driving path for a robot, the method comprising:
- detecting an obstacle;
checking, prior to generation of a driving path, whether nodes overlap with the obstacle;
removing one of the nodes overlapping with the obstacle;
generating the driving path by sampling edges and remaining nodes excluding the removed one of the nodes;
checking whether edges of the generated driving path overlap with the obstacle; and
determining the driving path on a road map space in response to no edge overlaps overlapping with the obstacle,wherein the road map space defines a driving state of the robot.
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Abstract
A robot control system includes a detecting device configured to detect an obstacle, and a control device configured to control a robot by planning a driving path of the robot. The control device generates a road map space including nodes containing information about a state of the robot and edges connecting the nodes. Also, the control device checks whether the obstacle detected by the detecting device overlaps with the nodes, removes an overlapped node, generates a driving path by sampling remaining nodes and edges, and checks whether the edges of the driving path overlap with the obstacle. When there is no overlapped edge, the control device determines the driving path on the road map space to plan a path along which the robot drives without colliding with the obstacle.
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Citations
14 Claims
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1. A method for planning a driving path for a robot, the method comprising:
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detecting an obstacle; checking, prior to generation of a driving path, whether nodes overlap with the obstacle; removing one of the nodes overlapping with the obstacle; generating the driving path by sampling edges and remaining nodes excluding the removed one of the nodes; checking whether edges of the generated driving path overlap with the obstacle; and determining the driving path on a road map space in response to no edge overlaps overlapping with the obstacle, wherein the road map space defines a driving state of the robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A control system for a robot, comprising:
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a detector configured to detect an obstacle; and a controller configured to; control a robot by planning a driving path of the robot, generate a road map space including nodes containing information about a state of the robot and edges connecting the nodes, check, prior to generation of a driving path, whether the nodes overlap with the obstacle detected by the detecting device, remove an overlapped node of the nodes, generate the driving path by sampling edges and remaining nodes excluding the removed overlapped node, check whether the edges of the generated driving path overlap with the obstacle, and determine, in response to there being no overlapped edge, the driving path on the road map space to plan a path along which the robot is to drive without colliding with the obstacle. - View Dependent Claims (12, 13, 14)
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Specification