System for obstacle avoidance path planning for multiple-degree-of-freedom mechanism
First Claim
1. A system for obstacle avoidance path planning for a multiple-degree-of-freedom mechanism moving from a predetermined point to a goal avoiding an obstacle, comprising:
- first means for defining a viscous drag coefficient distribution on the obstacle;
second means for describing a time required for the mechanism to move from the predetermined point to the goal with a functional, using the viscous drag coefficient distribution;
third means for determining a path on the basis of the variational principle with the viscous drag coefficient distribution such that the functional has an extreme value; and
fourth means for driving the mechanism along the determined path.
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Abstract
In a system for obstacle avoidance path finding for a multiple-degree-of-freedom mechanism such as a mobile robot moving from a starting point to a goal while avoiding obstacles. Obstacles are defined to be a virtual space having a continuous drag coefficient that increases with increasing proximity to the obstacles. A path is determined on the basis of the variational principle as the extreme for a functional such as time required for the mobile robot'"'"'s movement. Since the viscous drag coefficient is greatest at the obstacles, the determined path does not go through the obstacles thereby avoiding the obstacles. Moreover, since the path is determined on the variational principle, the time required for the movement is adopted as the functional, the determined path will locally be that of minimum time.
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Citations
25 Claims
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1. A system for obstacle avoidance path planning for a multiple-degree-of-freedom mechanism moving from a predetermined point to a goal avoiding an obstacle, comprising:
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first means for defining a viscous drag coefficient distribution on the obstacle; second means for describing a time required for the mechanism to move from the predetermined point to the goal with a functional, using the viscous drag coefficient distribution; third means for determining a path on the basis of the variational principle with the viscous drag coefficient distribution such that the functional has an extreme value; and fourth means for driving the mechanism along the determined path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for obstacle avoidance path planning for a multiple-degree-of-freedom mechanism moving from a predetermined point to a goal and avoiding an obstacle, comprising:
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first means for defining a viscous drag coefficient distribution on the obstacle and the predetermined point; second means for describing a time required for the mechanism to move from the predetermined point to the goal with a functional using the viscous drag coefficient distribution; third means for determining a path on the basis of the variational principle with the viscous drag coefficient distribution such that the functional has an extreme value; and fourth means for driving the mechanism along the determined path. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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Specification