Path planning apparatus of robot and method and computer-readable medium thereof
First Claim
Patent Images
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 a constraint to generate a motion path of a manipulator of the robot;
generating, by the at least one processor, a Rapidly-exploring Random Tree (RRT) path connecting the start point and the goal point while satisfying the constraint on the configuration space;
selecting first and second points from the RRT path;
generating, by the at least one processor, an intermediate path connecting the first and second points selected from the RRT path;
projecting, by the at least one processor, the intermediate path and determining when the constraint on the configuration space is satisfied; and
storing, by the at least one processor, the two certain points in the RRT path to smooth the RRT path if the constraint on the configuration space is satisfied.
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Abstract
A path planning apparatus of a robot smoothes a motion path while satisfying a constraint. In a configuration space where a manipulator of a robot performs a task, a Rapidly-exploring Random Tree (RRT) path which extends from a start point and reaches a goal point may be smoothed while satisfying a constraint to generate a stable motion path. Accordingly, path planning performance is improved and an optimal path satisfying a kinematic constraint may be rapidly obtained.
14 Citations
16 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 a constraint to generate a motion path of a manipulator of the robot; generating, by the at least one processor, a Rapidly-exploring Random Tree (RRT) path connecting the start point and the goal point while satisfying the constraint on the configuration space; selecting first and second points from the RRT path; generating, by the at least one processor, an intermediate path connecting the first and second points selected from the RRT path; projecting, by the at least one processor, the intermediate path and determining when the constraint on the configuration space is satisfied; and storing, by the at least one processor, the two certain points in the RRT path to smooth the RRT path if the constraint on the configuration space is satisfied. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. 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 a constraint to generate a motion path of a manipulator of the robot; generating, by the at least one processor, a Rapidly-exploring Random Tree (RRT) path connecting the start point and the goal point while satisfying the constraint on the configuration space; low-pass filtering, by the at least one processor, the overall RRT path; projecting, by the at least one processor, the low-pass filtered path and determining if the constraint on the configuration space is satisfied; and storing, by the at least one processor, the projected path in the RRT path to smooth the RRT path if the constraint on the configuration space is satisfied. - View Dependent Claims (9, 10, 11)
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12. 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 generate a Rapidly-exploring Random Tree (RRT) path connecting the start point and the goal point while satisfying a constraint on the configuration space, and to project the RRT path on a working space of the manipulator of the robot to smooth the RRT path, wherein the path planning generator selects first and second points from the RRT path and generates an intermediate path connecting the first and second points selected from the RRT path. - View Dependent Claims (13, 14, 15, 16)
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Specification