| 摘要 |
PURPOSE: An arbitrary sampling based motion planning device using a selective tracing technique and a method thereof are provided to efficiently resolve the problem of motion planning irrespective of the characteristics of a virtual world by rapidly determining the existence of a narrow route and selectively using optimization based tracing method when the narrow route exists. CONSTITUTION: A sampling part (110) samples the state of a robot and a bridge line test part (120) selects a direction in a test position for generating a line directing to the direction and performing a collision test for the line before performing a bridge line test determining whether the line is a bridge line. If the line is the bridge line, the sampling part samples the state of the robot using optimization based tracing method at the testing position. The bridge line test part only performs the bridge line test when the testing position is the boundary of an obstacle. [Reference numerals] (100) Motion planning device; (110) Sampling part; (120) Bridge line test part; (130) Non-collision line test part |
