PATH PLANNING APPARATUS OF ROBOT AND METHOD THEREOF

摘要

PURPOSE: A path planning apparatus of a robot and a method thereof are provided to minimize extension of a tree in wrong directions without depending on a goal function. CONSTITUTION: A path planning method of a robot comprises following steps. A configuration space(C-space) is formed to create a route of a manipulator. If an obstacle exists between an initial point(S) and a goal point(G) of the configuration space, the obstacle is recognized as an intermediate point(K), and way points(K-1,K-2) are selected. The node, which is created in the initial point, arrives through the way point to the goal point. The tree is expanded, and a search graph is formed. The initial point and the goal point are connected through the search graph, so an optimal path is created to avoid the obstacle.