发明名称 |
PATH PLANNING APPARATUS OF ROBOT AND METHOD AND COMPUTER-READABLE MEDIUM THEREOF |
摘要 |
A path planning apparatus of a robot smoothes a motion path while satisfying a constraint. In a configuration space where a manipulator of a robot performs a task, a Rapidly-exploring Random Tree (RRT) path which extends from a start point and reaches a goal point may be smoothed while satisfying a constraint to generate a stable motion path. Accordingly, path planning performance is improved and an optimal path satisfying a kinematic constraint may be rapidly obtained.
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申请公布号 |
US2011106306(A1) |
申请公布日期 |
2011.05.05 |
申请号 |
US20100903653 |
申请日期 |
2010.10.13 |
申请人 |
SAMSUNG ELECTRONICS CO., LTD. |
发明人 |
KIM MYUNG HEE;LIM SAN;ROH KYUNG SHIK;LIM BOK MAN |
分类号 |
G05B19/04 |
主分类号 |
G05B19/04 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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