Path planning apparatus of robot and method thereof
First Claim
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1. A path planning apparatus of a robot, comprising:
- a path plan generating unit configured to form a tree within a configuration space having information about an initial configuration and a final configuration, randomly sample a configuration in the configuration space, select, from a plurality of target nodes of the tree, a nearest node nearest to the sampled configuration in consideration of a distance and an angle between each of the plurality of target nodes and the sampled configuration, select a new node on a line connecting the nearest node and the sampled configuration, add the new node to the tree, and thus complete a path plan from the initial configuration to the final configuration; and
a robot control unit configured to control movements of the robot according to the path plan,wherein the angle is an angle formed by a vector from the selected node to the sampled configuration and a vector from a parent node of the selected node to the selected node.
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Abstract
Disclosed are a path planning apparatus of a robot, which generates a path plan to control movements of the robot, and a method thereof. An improved RRT algorithm is employed, when a tree is extended in a configuration space so as to satisfy a constraint, and thus steeply bent or roundabout portions of the tree are reduced.
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Citations
12 Claims
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1. A path planning apparatus of a robot, comprising:
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a path plan generating unit configured to form a tree within a configuration space having information about an initial configuration and a final configuration, randomly sample a configuration in the configuration space, select, from a plurality of target nodes of the tree, a nearest node nearest to the sampled configuration in consideration of a distance and an angle between each of the plurality of target nodes and the sampled configuration, select a new node on a line connecting the nearest node and the sampled configuration, add the new node to the tree, and thus complete a path plan from the initial configuration to the final configuration; and a robot control unit configured to control movements of the robot according to the path plan, wherein the angle is an angle formed by a vector from the selected node to the sampled configuration and a vector from a parent node of the selected node to the selected node. - View Dependent Claims (2, 3, 4, 5, 6, 10)
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7. A path planning method of a robot comprising:
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forming a tree within a configuration space having information about an initial configuration and a final configuration; randomly sampling a configuration in the configuration space; selecting, from a plurality of target nodes of the tree, a nearest node nearest to the sampled configuration in consideration of a distance and an angle between each of the plurality of target nodes and the sampled configuration; selecting a new node on a line connecting the nearest node and the sampled configuration; adding the new node to the tree to complete a path plan from the initial configuration to the final configuration; and controlling, using a robot control unit, movements of the robot according to the path plan, wherein the angle is an angle formed by a vector from the selected node to the sampled configuration and a vector from a parent node of the selected node to the selected node. - View Dependent Claims (8, 9, 11, 12)
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Specification