Method and apparatus to plan motion path of robot

摘要

If a manipulator of a robot falls in local minima when expanding a node to generate a path, the manipulator may efficiently escape from local minima by any one of a random escaping method and a goal function changing method or a combination thereof to generate the path. When the solution of inverse kinematics is not obtained due to local minima or when the solution of inverse kinematics is not obtained due to an inaccurate goal function, an optimal motion path to avoid an obstacle may be efficiently searched for. The speed to obtain the solution may be increased and thus the time consumed to search for the optimal motion path may be shortened.

主权项

1. A method of planning a motion path of a robot, comprising:
planning a motion path of a robot by use of a processor through a first method before it is determined that local minima occur, the first method comprising a Best First Search And Rapidly Random Tree (BF-RRT), and the BF-RRT including forming a configuration space having information about a start point, a goal point, constraints and a goal function, expanding a tree using a certain point selected in the configuration space and a node having a smallest goal score in the tree, and planning the path of a manipulator of the robot: determining whether the local minima occur when the tree is expanded using a processor; and planning a motion path of a robot by use of a processor through a second method that is different from the first method when it is determined that the local minima occur, the second method comprising a Single-Rapidly Random Tree (Single-RRT), wherein the performing of the Single-RRT comprises selecting the certain point in the configuration space, selecting a node closest to the certain point in the tree, obtaining a sample satisfying the constraints in a line between the selected certain point and the selected node, adding the obtained sample to the tree, and expanding the tree having the added obtained sample.