ROBOT CONTROL SYSTEM AND METHOD FOR PLANNING DRIVING PATH OF ROBOT

摘要

A robot control system includes a detecting device configured to detect an obstacle, and a control device configured to control a robot by planning a driving path of the robot. The control device generates a road map space including nodes containing information about a state of the robot and edges connecting the nodes. Also, the control device checks whether the obstacle detected by the detecting device overlaps with the nodes, removes an overlapped node, generates a driving path by sampling remaining nodes and edges, and checks whether the edges of the driving path overlap with the obstacle. When there is no overlapped edge, the control device determines the driving path on the road map space to plan a path along which the robot drives without colliding with the obstacle.

主权项

1. A method for planning a robot driving path, which plans a driving path of a robot so that the robot does not collide with an obstacle,
wherein the driving path is planned on a road map space which includes nodes and edges connecting the nodes and defines a driving state of the robot, the method comprising: detecting an obstacle; checking whether the nodes overlap with the obstacle; removing a node overlapping with the obstacle; generating a driving path by sampling remaining nodes and edges; checking whether edges of the driving path overlap with the obstacle; and determining the driving path on the road map space when no edge overlaps with the obstacle.