Method, medium, and apparatus for performing path planning of mobile robot
First Claim
1. An apparatus for performing path planning of a mobile robot, comprising:
- a coarse map generation unit to generate a coarse map composed of a plurality of cells;
a fine map generation unit to generate a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells is divided; and
a path generation unit to control the fine map generation unit to generate the fine map with respect to a specified position in the coarse map generated through the coarse map generation unit.
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Abstract
A method, medium, and apparatus for performing path planning of a mobile robot is provided. The apparatus for performing path planning of a mobile robot includes a coarse map generation unit to generate a coarse map composed of a plurality of cells; a fine map generation unit to generate a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells is divided, and a path generation unit to control the fine map generation unit to generate the fine map with respect to a specified position in the coarse map generated through the coarse map generation unit. The method of performing path planning of a mobile robot includes generating a coarse map composed of a plurality of cells, generating a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells, which neighbors the cell where an obstacle exists, is divided, generating a moving path whereby the mobile robot can pass a narrow passage by using the fine map, and updating the coarse map by reflecting the moving path.
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Citations
23 Claims
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1. An apparatus for performing path planning of a mobile robot, comprising:
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a coarse map generation unit to generate a coarse map composed of a plurality of cells; a fine map generation unit to generate a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells is divided; and a path generation unit to control the fine map generation unit to generate the fine map with respect to a specified position in the coarse map generated through the coarse map generation unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of performing path planning of a mobile robot, comprising:
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generating a coarse map composed of a plurality of cells; generating a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells, which neighbors the cell where an obstacle exists, is divided; generating a moving path whereby the mobile robot can pass a narrow passage by using the fine map; and updating the coarse map by reflecting the moving path. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification