ROBOT AND METHOD FOR PLANNING PATH OF THE SAME
First Claim
1. A method comprising:
- setting a respective cell of a plurality of cells configuring a space in which a robot moves as a base cell, and storing coordinates of the base cell in a queue structure;
searching for and setting cells adjacent to the base cell as scan cells;
for each scan cell,calculating, by a computer, a movement direction of the robot from the base cell to the scan cell,calculating, by a computer, a movement cost of the scan cell according to the calculated movement direction,comparing, by a computer, the calculated movement cost and a movement cost previously stored in the scan cell,determining, by a computer, based on said comparing, whether or not coordinates of the scan cell are to be stored in the queue structure and,storing, by a computer, the coordinates of the scan cell in the queue structure if it is determined by said determining that the coordinates are to be stored; and
for each cell having coordinates stored in the queue structure,setting the respective cell as a base cell and,performing said searching and setting, said calculating a movement direction, said calculating a movement cost, said comparing, said determining and said storing, to thereby build a map of the space.
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Abstract
A robot and a method for planning a path of the robot. The method includes storing coordinates of a base cell in a queue structure, setting a plurality of cells adjacent to the base cell as scan cells, calculating a movement direction of the robot from the base cell to each of the scan cells, calculating movement cost of each of the scan cells according to the calculated movement direction, comparing the calculated movement cost and movement cost previously stored in each of the scan cells and determining whether or not coordinates of each of the scan cells are stored in the queue structure, and repeatedly performing a process of recording the movement direction and the movement cost in each of the scan cells and building a map of the movement space of the robot if the coordinates of each of the scan cells are stored in the queue structure.
27 Citations
25 Claims
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1. A method comprising:
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setting a respective cell of a plurality of cells configuring a space in which a robot moves as a base cell, and storing coordinates of the base cell in a queue structure; searching for and setting cells adjacent to the base cell as scan cells; for each scan cell, calculating, by a computer, a movement direction of the robot from the base cell to the scan cell, calculating, by a computer, a movement cost of the scan cell according to the calculated movement direction, comparing, by a computer, the calculated movement cost and a movement cost previously stored in the scan cell, determining, by a computer, based on said comparing, whether or not coordinates of the scan cell are to be stored in the queue structure and, storing, by a computer, the coordinates of the scan cell in the queue structure if it is determined by said determining that the coordinates are to be stored; and
for each cell having coordinates stored in the queue structure,setting the respective cell as a base cell and, performing said searching and setting, said calculating a movement direction, said calculating a movement cost, said comparing, said determining and said storing, to thereby build a map of the space. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 19)
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14. A robot comprising:
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a driving unit configured to move the robot along a movement path; a sensor configured to sense an obstacle near the robot driven by the driving unit; and a map builder configured to set a respective cell of a plurality of cells configuring a space in which the robot moves as a base cell, and store coordinates of the base cell in a queue structure, search for and set a plurality of cells adjacent to the base cell as scan cells, for each scan cell, calculate a movement direction of the robot from the base cell to the scan cell, calculate movement cost of the scan cell according to the calculated movement direction, compare the calculated movement cost and a movement cost previously stored in the scan cell, determine, based on a result of said compare, whether or not coordinates of the scan cell are to be stored in the queue structure and, store the coordinates of the scan cell in the queue structure if it is determined that the coordinates are to be stored, and for each respective cell having coordinates stored in the queue structure, set the respective scan cell as a base cell and, perform said search and set, said calculate a movement direction, said calculate movement cost, said compare, said determine and said store to thereby build a map of the space of the robot. - View Dependent Claims (15, 16, 17, 20, 21, 22, 23)
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24. A method comprising:
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calculating, by a computer, movement directions and movement costs of cells in a space in which a robot moves; and using, by a computer, the calculated movement directions and movement costs to build a map of the space. - View Dependent Claims (25)
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Specification