Trajectory generation device, moving object, trajectory generation method
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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Abstract
A trajectory generation device includes a storage unit that stores a plurality of trajectories; a trajectory acquisition unit that acquires a trajectory, corresponding to an environment similar to a current environment, from the plurality of trajectories stored in the storage unit; and a trajectory generation unit that calculates a longest trajectory part, which is present in a moving object moving area in the trajectory acquired by the trajectory acquisition unit, and generates a trajectory by connecting both ends of the calculated longest trajectory part to a predetermined start point and a predetermined end point respectively.
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6 Claims
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1. A moving object trajectory generation device, comprising:
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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, and wherein the moving object moves based on the connection trajectory generated by the control unit. - View Dependent Claims (2, 3, 4, 5)
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6. A trajectory generation method for a robot, comprising:
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acquiring a trajectory by a control unit, corresponding to an environment similar to a current environment, from a plurality of trajectories stored in a storage unit, wherein the acquired trajectory includes at least one through-obstacle portion and at least one unobstructed portion of the trajectory, and; extracting a longest unobstructed portion from the acquired trajectory, which is present in a moving area of an arm of the robot within the acquired trajectory by the control unit; and generating a connection trajectory by the control unit by connecting both ends of the extracted longest unobstructed trajectory part to a predetermined start point and a predetermined end point respectively, and moving the robot based on the connection trajectory generated by the control unit.
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Specification