MOTION PLANNING APPARATUS AND METHOD

摘要

Provided are a motion planning apparatus and a method thereof. The motion planning apparatus includes a sampling part which generates a sampling region including sampling circles, and a calculating part which calculates a new optimal path in the sampling region and designates the node not included in a previous optimal path among nodes included in the new optimal path, as a milestone. The sampling part adds a new sampling circle around the milestone to the sampling region. The calculating part calculates the new optimal path in the sampling region again. So, the dilemma between global search and local search can be solved.