Path planning apparatus of robot and method and computer-readable medium thereof

摘要

An apparatus, method and computer-readable medium planning a path of a robot by planning an optimal path while satisfying a dynamic constraint. In a process of searching for a motion path from a start point to a goal point while extending a tree from a start point of a configuration space to generate a path, along which a manipulator of the robot is moved in order to perform a task, an optimal path is generated responsive to the dynamic constraint of the manipulator of the robot to generate stable motion satisfying momentum and Zero Moment Position (ZMP) constraint. Accordingly, path planning performance is improved and a path satisfying a kinematic constraint and a dynamic constraint is rapidly obtained.

主权项

1. A method of planning a path of a robot, the method comprising:
recognizing, by at least one processor, a start point and a goal point respectively corresponding to an initial configuration and a goal configuration of a manipulator of the robot; estimating, by the at least one processor, a dynamic constraint of the manipulator of the robot; searching, by the at least one processor, in configuration space for a path satisfying a constraint including obstacle avoidance from the start point to the goal point; and generating, by the at least one processor, a path satisfying the dynamic constraint from the searched path, wherein the dynamic constraint relates to at least one of speed and balance.