PATH SEARCH METHOD
First Claim
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1. A path search method of a mobile object in a grid map having a plurality of cells, each having an identical size, comprising:
- generating a block map having a plurality of blocks by merging a specific number of cells in the grid map;
obtaining a block path by finding a path from a starting position to a destination position in the block map; and
obtaining a final path of the mobile object by performing a cell-based path search on cells in the blocks on the block path.
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Abstract
A path search method of a mobile object in a grid map having a plurality of cells, each having an identical size, is provided. The path search method includes: generating a block map having a plurality of blocks by merging a specific number of cells in the grid map; obtaining a block path by finding a path from a starting position to a destination position in the block map; and obtaining a final path of the mobile object by performing a cell-based path search on cells in the blocks on the block path.
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10 Claims
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1. A path search method of a mobile object in a grid map having a plurality of cells, each having an identical size, comprising:
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generating a block map having a plurality of blocks by merging a specific number of cells in the grid map; obtaining a block path by finding a path from a starting position to a destination position in the block map; and obtaining a final path of the mobile object by performing a cell-based path search on cells in the blocks on the block path. - View Dependent Claims (2, 3, 4)
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5. A path search method of a mobile object in a grid map having a plurality of cells, each having an identical size, comprising:
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generating a preprocessed map by extending, based on the number of cells in the grid map occupied by the mobile object, a blocked region in the grid map;
generating a block map having a plurality of blocks by merging a specific number of cells in the preprocessed map;obtaining a block path of the mobile object by finding a path from a starting position to a destination position in the block map; and obtaining a final path of the mobile object by performing a cell-based path search on cells in the blocks on the block path. - View Dependent Claims (6, 7, 8, 9, 10)
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Specification