公开(公告)号：US09116523B2

公开(公告)日：2015-08-25

申请号：US13303620

申请日：2011-11-23

申请人： Jin-Woo Jung ,  ByungChul So

发明人： Jin-Woo Jung ,  ByungChul So

IPC分类号： G05D1/02 ,  G06F17/10

CPC分类号： G05D1/0274 ,  G06F17/10

摘要： Disclosed are an apparatus and method of cell-based path planning for a mobile body and a computer-readable recording medium storing the method therein. The method includes receiving a configuration space including a start point and a goal point of the mobile body and position information of obstacles, determining a search order of the obstacles located in the configuration space, performing cell decomposition by repeatedly connecting a vertex of one of the obstacles to a vertex of another obstacle according to the determined search order, and performing cell decomposition by making an extended line from each of non-connected vertices in a direction of dividing vertical angle of each of the non-connected vertices into two.

摘要翻译： 公开了一种用于移动体的基于小区的路径规划的装置和方法以及在其中存储该方法的计算机可读记录介质。 该方法包括接收包括移动体的起始点和目标点的配置空间以及障碍物的位置信息，确定位于配置空间中的障碍物的搜索顺序，通过重复连接一个 根据确定的搜索顺序对另一障碍物的顶点的障碍，并且通过在将每个非连接顶点的垂直角度分割为两个的方向上从每个未连接的顶点形成延伸线来执行细胞分解。

公开(公告)号：US20120221237A1

公开(公告)日：2012-08-30

申请号：US13303620

申请日：2011-11-23

申请人： Jin-Woo Jung ,  ByungChul So

发明人： Jin-Woo Jung ,  ByungChul So

IPC分类号： G01C21/00

CPC分类号： G05D1/0274 ,  G06F17/10

摘要： Disclosed are an apparatus and method of cell-based path planning for a mobile body and a computer-readable recording medium storing the method therein. The method includes receiving a configuration space including a start point and a goal point of the mobile body and position information of obstacles, determining a search order of the obstacles located in the configuration space, performing cell decomposition by repeatedly connecting a vertex of one of the obstacles to a vertex of another obstacle according to the determined search order, and performing cell decomposition by making an extended line from each of non-connected vertices in a direction of dividing vertical angle of each of the non-connected vertices into two.

摘要翻译： 公开了一种用于移动体的基于小区的路径规划的装置和方法以及在其中存储该方法的计算机可读记录介质。 该方法包括接收包括移动体的起始点和目标点的配置空间以及障碍物的位置信息，确定位于配置空间中的障碍物的搜索顺序，通过重复连接一个 根据确定的搜索顺序对另一障碍物的顶点的障碍，并且通过在将每个非连接顶点的垂直角度分割为两个的方向上从每个未连接的顶点形成延伸线来执行细胞分解。