PATH PLANNING APPARATUS OF ROBOT AND METHOD AND COMPUTER-READABLE MEDIUM THEREOF
First Claim
1. A method of planning a path of a robot, the method comprising:
- forming, by at least one processor, a configuration space having a start point, a goal point and obstacle information in order to generate a motion path of a manipulator of the robot;
connecting, by the at least one processor, a certain point randomly sampled in the configuration space and a node having a smallest goal score to obtain a sample gnew satisfying a constraint including obstacle avoidance;
projecting, by the at least one processor, the sample gnew in consideration of a dynamic constraint;
adding, by the at least one processor, a projection sample gprojected to extend a tree; and
connecting, by the at least one processor, the start point and the goal point by the extension of the tree to generate the path responsive to the dynamic constraint.
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Abstract
An apparatus, method and computer-readable medium planning a path of a robot by planning an optimal path while satisfying a dynamic constraint. In a process of searching for a motion path from a start point to a goal point while extending a tree from a start point of a configuration space to generate a path, along which a manipulator of the robot is moved in order to perform a task, an optimal path is generated responsive to the dynamic constraint of the manipulator of the robot to generate stable motion satisfying momentum and Zero Moment Position (ZMP) constraint. Accordingly, path planning performance is improved and a path satisfying a kinematic constraint and a dynamic constraint is rapidly obtained.
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Citations
20 Claims
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1. A method of planning a path of a robot, the method comprising:
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forming, by at least one processor, a configuration space having a start point, a goal point and obstacle information in order to generate a motion path of a manipulator of the robot; connecting, by the at least one processor, a certain point randomly sampled in the configuration space and a node having a smallest goal score to obtain a sample gnew satisfying a constraint including obstacle avoidance; projecting, by the at least one processor, the sample gnew in consideration of a dynamic constraint; adding, by the at least one processor, a projection sample gprojected to extend a tree; and connecting, by the at least one processor, the start point and the goal point by the extension of the tree to generate the path responsive to the dynamic constraint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 19)
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8. A method of planning a path of a robot, the method comprising:
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recognizing, by at least one processor, a start point and a goal point respectively corresponding to an initial configuration and a goal configuration of a manipulator of the robot; estimating, by the at least one processor, a dynamic constraint of the manipulator of the robot; searching, by the at least one processor, for a path satisfying a constraint including obstacle avoidance from the start point to the goal point; and generating, by the at least one processor, the path satisfying the dynamic constraint when searching for the path. - View Dependent Claims (9, 10, 11, 12, 13, 20)
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14. An apparatus planning a path of a robot, the apparatus comprising:
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a recognizer configured to recognize a start point and a goal point respectively corresponding to an initial configuration and a goal configuration of a manipulator of the robot; and a path planning generator configured to form a configuration space to generate a motion path of the manipulator of the robot, to estimate a dynamic constraint of the manipulator of the robot in the configuration space, and to generate a path to connect the start point and the goal point responsive to the dynamic constraint. - View Dependent Claims (15, 16, 17, 18)
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Specification