METHOD FOR PATH PLANNING AND TRACING USING CIRCLE TRACE OF AUTONOMOUS MOBILE DEVICE

摘要

PURPOSE: A driving path plan using a circle trajectory of an autonomous movement device and a tracing method thereof are provided to use minimum energy within a safe range, thereby planning a minimum distance. CONSTITUTION: A circle trajectory generation unit(101) generates a first circle trajectory based on a current driving location. The circle trajectory generation unit generates a second circle trajectory based on a target location. A path plan and driving control unit(102) generates the common tangent trajectory of the first circle trajectory and the second circle trajectory and generates the whole driving plan. [Reference numerals] (101) Circle trajectory generation unit; (102) Path plan and driving control unit; (AA) Autonomous mobile device(ex: robot); (BB) First and second circle trajectory