Device for planning path of mobile robot and method for planning path of mobile robot
View Patent ↗Disclosed are a device for planning a path of a mobile robot and a method for planning a path of a mobile robot. The device for planning a path of a mobile robot and the method for planning a path of a mobile robot, according to the present invention, extend a route planning tree by sampling grid-based nodes between a start point and a target point of the mobile robot. Therefore, the present invention can configure a path plan of the mobile robot to be a path optimized within a quick time.
1. A path planning apparatus of a mobile robot, comprising:
a recognition unit recognizing an obstacle located between starting point and goal point of the mobile robot and setting grid-based nodes based on the recognized obstacle and kinematic characteristics of the mobile robot; and
a path planning creation unit sampling the grid-based nodes to expand a path planning tree for movement control of the mobile robot,
wherein the path planning creation unit performs the sampling of the grid-based nodes without considering the kinematic characteristics of the mobile robot.
2. The path planning apparatus of a mobile robot of claim 1 ,
wherein the path planning creation unit performs the sampling of the grid-based nodes by randomly extracting any node from the grid-based nodes.
3. The path planning apparatus of a mobile robot of claim 1 ,
wherein the path planning creation unit expands the path planning tree until the sampled node is a node corresponding to the goal point.
4. The path planning apparatus of a mobile robot of claim 1 ,
wherein the path planning creation unit performs the expansion of the path planning tree using a rapidly-exploring random tree (RRT) algorithm.
5. The path planning apparatus of a mobile robot of claim 1 ,
wherein the recognition unit sets via-points, which are inflection points on a grid map-based path defined between the starting point and the goal point, as the grid-based nodes.
6. The path planning apparatus of a mobile robot of claim 1 ,
wherein the kinematic characteristics of the mobile robot include at least one of information about size of the mobile robot, information about movable direction of the mobile robot, and information about movable range of the mobile robot.
7. A path planning apparatus of a mobile robot, comprising:
a recognition unit recognizing an obstacle located between a starting point and a goal point of the mobile robot and setting grid-based nodes based on the recognized obstacle and kinematic characteristics of the mobile robot; and
a path planning creation unit sampling the grid-based nodes to expand a path planning tree for movement control of the mobile robot,
wherein the path planning creation unit compares a first path function including a function of a distance from the sampled node to the goal point and a direction vector with a second path function including a function of a distance from current position of the mobile robot to the goal point and a direction vector.
8. The path planning apparatus of a mobile robot of claim 7 ,
wherein, as a result of comparison of the first path function with the second path function, the path planning creation unit does not add the sampled node to the expansion of the path planning tree when a value of the first path function is more than a value of the second path function, and adds the sampled node to the expansion of the path planning tree when the value of the first path function is less than the value of the second path function.
9. A path planning method of a mobile robot, comprising:
setting starting point and goal point in movement area of a mobile robot on a basis of a grip map;
recognizing an obstacle located between the starting point and goal point of the mobile robot and setting grid-based nodes based on the recognized obstacle and kinematic characteristics of the mobile robot; and
sampling the grid-based nodes to expand a path planning tree for movement control of the mobile robot,
wherein, in the expanding the path planning tree, the grid-based nodes are sampled without considering the kinematic characteristics of the mobile robot.
10. The path planning method of a mobile robot of claim 9 ,
wherein, in the setting the grid-based nodes, the grid-based nodes are set as via-points, which are inflection points on a grid map-based path defined between the starting point and the goal point.
11. The path planning method of a mobile robot of claim 9 ,
wherein the kinematic characteristics of the mobile robot include at least one of information about size of the mobile robot, information about movable direction of the mobile robot, and information about movable range of the mobile robot.
12. The path planning method of a mobile robot of claim 9 ,
wherein, in the expanding the path planning tree, the sampling of the grid-based nodes is performed by randomly extracting any node from the grid-based nodes.
13. The path planning method of a mobile robot of claim 9 ,
wherein the expanding the path planning tree is repeated until the sampled node is a node corresponding to the goal point.
14. The path planning method of a mobile robot of claim 9 ,
wherein the expanding the path planning tree is performed using a rapidly-exploring random tree (RRT) algorithm.
15. The path planning method of a mobile robot of claim 9 ,
wherein, in the expanding the path planning tree,
a first path function including a function of a distance from the sampled node to the goal point and a direction vector is compared with a second path function including a function of a distance from current position of the mobile robot to the goal point and a direction vector,
the sampled node is not added to the expansion of the path planning tree when a value of the first path function is more than a value of the second path function, and
the sampled node is added to the expansion of the path planning tree when the value of the first path function is less than the value of the second path function.