公开(公告)号：US20170120448A1

公开(公告)日：2017-05-04

申请号：US15332312

申请日：2016-10-24

Applicant: Korea Institute of Science and Technology

Inventor： Junghwan LEE ,  Jung Min PARK ,  Sang Rok OH

IPC: B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1666 ,  G05D1/0214 ,  G05D2201/0217

Abstract: A robot control system includes a detecting device configured to detect an obstacle, and a control device configured to control a robot by planning a driving path of the robot. The control device generates a road map space including nodes containing information about a state of the robot and edges connecting the nodes. Also, the control device checks whether the obstacle detected by the detecting device overlaps with the nodes, removes an overlapped node, generates a driving path by sampling remaining nodes and edges, and checks whether the edges of the driving path overlap with the obstacle. When there is no overlapped edge, the control device determines the driving path on the road map space to plan a path along which the robot drives without colliding with the obstacle.