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Trajectory generation device, moving object, trajectory generation method

  • US 9,993,923 B2
  • Filed: 03/14/2013
  • Issued: 06/12/2018
  • Est. Priority Date: 03/22/2012
  • Status: Active Grant
First Claim
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1. A moving object trajectory generation device, comprising:

  • a control unit including a central processing unit that performs control processing, the control unit configured to;

    store a plurality of moving object trajectories, wherein each of the plurality of moving object trajectories corresponds to a stored motion planning input among a plurality of stored motion planning inputs;

    acquire a trajectory of a moving object corresponding to a motion planning input and compare the acquired motion planning input with each of the plurality of the stored motion planning inputs in order to determine a corresponding reference moving object trajectory among the plurality of moving object trajectories stored, wherein the reference moving object trajectory includes at least one through-obstacle portion and at least one unobstructed portion of the trajectory; and

    extract a longest unobstructed portion from the reference moving object trajectory determined by the control unit,generate a connection trajectory by connecting both ends of the extracted longest unobstructed trajectory part to a predetermined start point and a predetermined end point respectively, andwherein the moving object moves based on the connection trajectory generated by the control unit.

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