TRAJECTORY GENERATION DEVICE, MOVING OBJECT, TRAJECTORY GENERATION METHOD

• US 20150100194A1
• Filed: 03/14/2013
• Published: 04/09/2015
• Est. Priority Date: 03/22/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Terada, Koji
• Granted Patent: US 9,993,923 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/40428 Using rapidly exploring random trees algorithm RRT-algorithm
• CPC Class Codes: G05B 2219/40431 Grid of preoptimised paths as function of target position, choose closest, fine adapt
• CPC Class Codes: G05B 2219/40512 Real time path planning, trajectory generation
• CPC Class Codes: G05B 2219/40516 Replanning
• CPC Class Codes: G05B 2219/40519 Motion, trajectory planning
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

A trajectory generation device includes a storage unit that stores a plurality of trajectories; a trajectory acquisition unit that acquires a trajectory, corresponding to an environment similar to a current environment, from the plurality of trajectories stored in the storage unit; and a trajectory generation unit that calculates a longest trajectory part, which is present in a moving object moving area in the trajectory acquired by the trajectory acquisition unit, and generates a trajectory by connecting both ends of the calculated longest trajectory part to a predetermined start point and a predetermined end point respectively.

Claims

1. A trajectory generation device, comprising:

a storage unit that stores a plurality of trajectories;

a trajectory acquisition unit that acquires the trajectory, corresponding to an environment similar to a current environment, from the plurality of trajectories stored in the storage unit; and

a trajectory generation unit that calculates a longest trajectory part, which is present in a moving object moving area in the trajectory acquired by the trajectory acquisition unit, and generates a connection trajectory by connecting both ends of the calculated longest trajectory part to a predetermined start point and a predetermined end point respectively.

2. The trajectory generation device according to claim 1, wherein

the trajectory generation unit calculates the longest trajectory part that is present in the moving object moving area excluding an obstacle area and that satisfies a predetermined restriction condition, connects branches, one extending from the predetermined start point and another extending from the predetermined end point, to both ends of the calculated longest trajectory part respectively using a Rapidly-Exploring Random Tree method, and generates a final trajectory in a final form by smoothing the connection trajectory.

3. The trajectory generation device according to claim 1, wherein

the storage unit stores the trajectory and an evaluation of the trajectory and the trajectory acquisition unit acquires the trajectory, which corresponds to the environment similar to the current environment and is highly evaluated, from the plurality of trajectories stored in the storage unit.

4. The trajectory generation device according to claim 1, wherein

the trajectory generation unit calculates the longest trajectory part, which is present in the moving object moving area in each of the plurality of the trajectories acquired by the trajectory acquisition unit, generates the connection trajectories each of which is generated by connecting both ends of the calculated longest trajectory part for the corresponding acquired trajectory to the predetermined start point and the predetermined end point, evaluates each of the generated trajectories, and determines a final trajectory based on the evaluation of the trajectories.

5. The trajectory generation device according to claim 3, wherein

the evaluation includes at least one of an evaluation of a path length, an evaluation of a distance from an obstacle, an evaluation of consumption energy at a movement time, and an evaluation of user sensitivity.

6. A moving object that comprises the trajectory generation device according to claim 1, wherein the moving object moves based on the connection trajectory generated by the trajectory generation device.

7. A trajectory generation method, comprising:

acquiring a trajectory, corresponding to an environment similar to a current environment, from a plurality of trajectories stored in a storage unit;

calculating a longest trajectory part, which is present in a moving object moving area in the acquired trajectory; and

generating a connection trajectory by connecting both ends of the calculated longest trajectory part to a predetermined start point and a predetermined end point respectively.