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 to generate a tree such that edges of the tree are gently spread in a configuration space, and thus complete a path plan; and
a robot control unit to control movements of the robot according to the path plan.
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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.
22 Citations
14 Claims
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1. A path planning apparatus of a robot, comprising:
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a path plan generating unit to generate a tree such that edges of the tree are gently spread in a configuration space, and thus complete a path plan; and a robot control unit to control movements of the robot according to the path plan. - View Dependent Claims (2, 3, 4, 5, 6, 7, 13)
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8. A path planning method of a robot comprising:
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generating a tree such that edges of the tree are gently spread in a configuration space to complete a path plan; and controlling movements of the robot according to the path plan. - View Dependent Claims (9, 10, 11, 12, 14)
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Specification