PATH PLANNING DEVICE, PATH PLANNING METHOD, AND MOVING BODY
First Claim
Patent Images
1. A path planning device comprising:
- a movement prohibited area setting unit that sets a first movement prohibited area for assisting moving path generation on one or both sides of a moving body; and
a path decision unit that determines a moving path that originates from a start position, passes through a center of the moving body in a current position, and reaches a target position such that the moving body does not move inside the first movement prohibited area.
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Abstract
To provide a path planning device and a path planning method capable of, when installed in a moving body such as a robot, exhibiting a natural moving action, and a moving body having such a path planning device installed therein. A path planning device includes a path guide area setting unit that sets a first movement prohibited area for assisting moving path generation on one or both sides of the robot, and a path decision unit that determines a path to a target position such that the robot does not move inside the path guide area. The path guide area setting unit sets the path guide area such that its perimeter passes through the center of that robot.
48 Citations
12 Claims
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1. A path planning device comprising:
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a movement prohibited area setting unit that sets a first movement prohibited area for assisting moving path generation on one or both sides of a moving body; and a path decision unit that determines a moving path that originates from a start position, passes through a center of the moving body in a current position, and reaches a target position such that the moving body does not move inside the first movement prohibited area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A path planning method comprising:
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a movement prohibited area setting step of setting the first movement prohibited area for assisting a moving path generation on one or both sides of a moving body in a current position; and a path decision step of determining a path that originates from a start position, passes through a center of the moving body in a current position, and reaches a target position such that the moving body does not move inside the first movement prohibited area.
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11. A moving body comprising:
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a path planning unit to generate a moving path; and a moving unit to move based on a moving path generated by the path planning unit, wherein the path planning unit comprises; a movement prohibited area setting unit that sets a first movement prohibited area so as to assist moving path generation on one or both sides of the moving body in a current position; and a path decision unit that determines a moving path that originates from a start position, passes through a center of the moving body in a current position, and reaches a target position such that the moving body does not move inside the first movement prohibited area. - View Dependent Claims (12)
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Specification