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Path search method

  • US 8,296,064 B2
  • Filed: 12/17/2007
  • Issued: 10/23/2012
  • Est. Priority Date: 07/03/2007
  • Status: Active Grant
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 to create each block;

    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,wherein generating a block map includes;

    setting a block size based on the number of cells in the grid map occupied by the mobile object;

    dividing the grid map into the blocks each having the block size; and

    setting, based on cell states of the cells in each of the blocks in the block map, a block state for each of the blocks as either a blocked block or an empty block.

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