Granted Patent B2

US 12,461,529 · App. 17/952,726 · Granted Nov 4, 2025

Inventors: Hwan Hee Lee (Anyang-si, KR); Hun Keon Ko (Anyang-si, KR)

Assignees: Hyundai Motor Company; Kia Corporation

G05D1/0214G05D1/0274

Abstract

Claims (47)

1 . A robot path planning apparatus comprising:

a storage configured to receive an obstacle occupancy grid map; and

a controller configured to:

generate a cost map in which a cost corresponding to a separation distance from an obstacle to a movement area to which a robot is able to move is assigned, based on the obstacle occupancy grid map,

determine a first path from a current location of the robot to a destination,

determine a second path by calibrating the first path based on the cost map, and

control the robot to move along the second path,

wherein determining the second path comprises:

determining one or more areas each having a cost less than a cost of a first area in which a first node on the first path is located, the one or more areas being adjacent to the first area;

calculating one or more vectors from the first area to the determined one or more areas,

determining, as a first location, an area in which a sum of the calculated one or more vectors is located and adjacent to the first node, and

calibrating the first path by moving the first node on the first path to the first location to thereby cause the second path to include the first location, and

wherein the controller is configured to:

calculate a plurality of vectors from the first node on the calibrated first path to two adjacent nodes, respectively,

determine a location corresponding to a sum of the plurality of vectors as a second location of the first node on the calibrated first path, and

calibrate the calibrated first path by moving the first node on the calibrated first path to the second location to thereby cause the second path to replace the first location with the second location.

2 . The robot path planning apparatus of claim 1 , further comprising:

a sensor device configured to detect the obstacle around the robot,

wherein the controller is configured to add an area corresponding to the detected obstacle to the obstacle occupancy grid map.

3 . The robot path planning apparatus of claim 1 , wherein the controller is configured to increase the cost of the cost map as the separation distance from the obstacle to the movement area decreases.

4 . The robot path planning apparatus of claim 1 , wherein the controller is configured to determine a shortest path from the current location of the robot to the destination as the first path.

5 . The robot path planning apparatus of claim 1 , wherein the controller is configured to, based on a distance between the two adjacent nodes being greater than a preset first distance, add a new node at a middle of the two adjacent nodes on the first path calibrated by moving the first node to the second location.

6 . The robot path planning apparatus of claim 1 , wherein the controller is configured to, based on a distance between the two adjacent nodes being less than or equal to a preset second distance, delete one of the two adjacent nodes on the first path calibrated by moving the first node to the second location.

7 . A method of planning a robot path comprising:

storing, by a storage, an obstacle occupancy grid map;

generating, by a controller, a cost map in which a cost corresponding to a separation distance from an obstacle to a movement area to which a robot is able to move is assigned, based on the obstacle occupancy grid map;

determining, by the controller, a first path from a current location of the robot to a destination;

determining, by the controller, a second path by calibrating the first path based on the cost map; and

controlling the robot to move along the second path,

wherein determining the second path comprises:

determining one or more areas each having a cost less than a cost of a first area in which a first node on the first path is located, the one or more areas being adjacent to the first area;

calculating one or more vectors from the first area to the determined one or more areas,

determining, as a first location, an area in which a sum of the calculated one or more vectors is located and adjacent to the first node, and

calibrating the first path by moving the first node on the first path to the first location to thereby cause the second path to include the first location, and

wherein calibrating the first path comprises:

calculating a plurality of vectors from the first node on the calibrated first path to two adjacent nodes, respectively,

determining a location corresponding to a sum of the plurality of vectors as a second location of the first node on the calibrated first path, and

calibrating the calibrated first path by moving the first node on the calibrated first path to the second location to thereby cause the second path to replace the first location with the second location.

8 . The method of claim 7 , further comprising:

detecting, by a sensor device, the obstacle around the robot; and

adding an area corresponding to the detected obstacle to the obstacle occupancy grid map.

9 . The method of claim 7 , wherein the cost of the cost map increases as the separation distance from the obstacle to the movement area decreases.

10 . The method of claim 7 , wherein determining the first path includes determining a shortest path from the current location of the robot to the destination as the first path.

11 . The method of claim 7 , further comprising:

adding, based on a distance between the two adjacent nodes being greater than a preset first distance, a new node at a middle of the two adjacent nodes on the first path calibrated by moving the first node to the second location.

12 . The method of claim 7 , further comprising:

deleting, based on a distance between the two adjacent nodes being less than or equal to a preset second distance, one of the two adjacent nodes on the first path calibrated by moving the first node to the second location.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (17)