Apparatus and method for generating and using a grid map path
First Claim
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1. An apparatus for generating a path, comprising:
- a path generator generating an approximate path for an object moving relative to a map, based on a reduced map generated by reducing the map, dividing the map into a plurality of sections based on divisions of the approximate path, and generating a detailed path in each of the divided sections based on the approximate path.
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Abstract
An apparatus and method for generating a path using a limited memory size are provided. An approximate path is generated based on a reduced grid map generated by reducing an original grid map. Then, an approximate path is mapped onto the original grid map, and the mapped path is enlarged and divided into a plurality of sections based on an available memory size used for path calculation. Based on a start point and a destination point set in each of the divided sections, a detailed path in each of the sections is generated.
92 Citations
56 Claims
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1. An apparatus for generating a path, comprising:
a path generator generating an approximate path for an object moving relative to a map, based on a reduced map generated by reducing the map, dividing the map into a plurality of sections based on divisions of the approximate path, and generating a detailed path in each of the divided sections based on the approximate path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A method of generating a path of an object in a map, comprising:
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generating an approximate path within a reduced map generated from reducing the map; dividing the map into a plurality of sections based upon divisions of the approximate path; and generating a detailed path in each of the divided sections based on the approximate path. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 55)
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43. An apparatus for generating a path, comprising:
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a path generator generating an approximate path for an object moving relative to a map, of a reduced map, dividing the map into a plurality of sections based on a mapping of the approximate path of the reduced map into the map, and generating a detailed path in each of the divided sections respectively through at least one search algorithm, wherein the path generator further sets a start waypoint and a destination waypoint in each of the divided sections based on points from the approximate path and generates the detailed path in each of the divided sections based on a path generating algorithm applied to each divided section using each set start and destination waypoint. - View Dependent Claims (44, 45, 46, 47, 48)
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49. A method for generating a path, comprising:
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generating an approximate path for an object moving relative to a map, of a reduced map, dividing the map into a plurality of sections based on a mapping of the approximate path of the reduced map into the map, and generating a detailed path in each of the divided sections respectively through at least one search algorithm, wherein the dividing of the map further comprises setting a start waypoint and a destination waypoint in each of the divided sections based on points from the approximate path and generating the detailed path in each of the divided sections based on a path generating algorithm applied to each divided section using each set start and destination waypoint. - View Dependent Claims (50, 51, 52, 53, 54, 56)
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Specification