Method and apparatus for moving in minimum cost path using grid map
First Claim
1. 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.
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Accused Products
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.
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Citations
45 Claims
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1. A method of moving in a minimum cost path using a grid map, the method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of moving in a minimum cost path using a grid map, the method comprising:
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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. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A mobile home appliance comprising:
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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. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. 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:
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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.
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29. 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:
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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.
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30. A method of moving in a minimum cost path using a grid map, the method comprising:
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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. - View Dependent Claims (31, 32, 33)
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34. A method of moving a mobile home appliance in a minimum cost path using a grid map, the method comprising:
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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.
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35. 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:
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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. - View Dependent Claims (36, 37, 38, 39, 40, 41)
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42. A method of planning a minimum cost path on which a mobile home appliance moves using a grid map, the method comprising:
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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. - View Dependent Claims (43)
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44. 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:
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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. - View Dependent Claims (45)
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Specification