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公开(公告)号：KR1020100005942A
公开(公告)日：2010-01-18
申请号：KR1020080066063
申请日：2008-07-08
Applicant: 한국과학기술연구원
Abstract: PURPOSE: An optimal path planning method of a biped robot is provided to plan the optimal path so that the robot is able to avoid an obstacle by minimizing the rotation of the route. CONSTITUTION: An optimal path planning method of a biped robot comprises the steps for initializing the information about start, goal, before, present, and obstacle nodes(S101); calculating the route cost from the start node to the present node(S102); inputting candidate nodes to the candidate list(S103); calculating the angle cost of each candidate node(S104); calculating the heuristic cost of the candidate node(S105); calculating the total cost of the candidate node according to the route cost, the angle cost, and the heuristic cost(S106); updating the total cost after the candidate node is input(S107); appointing the candidate node corresponding to the minimum total cost as the next node(S108); and deciding whether or not the next node is the goal node(S109).
Abstract translation: 目的：提供双足机器人的最优路径规划方法来规划最优路径，使机器人能够通过最小化路线的旋转来避免障碍。 构成：双足机器人的最优路径规划方法包括初始化关于起点，目标，前，现在和障碍物节点的信息的步骤（S101）。 计算从起始节点到当前节点的路由开销（S102）; 将候选节点输入候选列表（S103）; 计算每个候选节点的角度成本（S104）; 计算候选节点的启发式成本（S105）; 根据路线成本，角度成本和启发式成本计算候选节点的总成本（S106）; 在输入候选节点之后更新总成本（S107）; 将与最小总成本相对应的候选节点指定为下一个节点（S108）; 并确定下一个节点是否是目标节点（S109）。
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公开(公告)号：KR101299134B1
公开(公告)日：2013-08-22
申请号：KR1020120027893
申请日：2012-03-19
Applicant: 한국과학기술연구원
IPC: B25J9/16 , G05B19/418 , G05D1/12
CPC classification number: Y02P90/02
Abstract: PURPOSE: A system and a method to explore a dynamic target object in a dynamic circumstance through the cooperation of a plurality of robots are provided to explore a target object by displaying the position of the target object using only speed information of the object in case only initial position of the dynamic target object is known. CONSTITUTION: A system (1) to explore a dynamic target object in a dynamic circumstance comprises a robot (40), a target object modeling unit (10), a route planning unit (20), and a control unit (30). One or more robots are formed to explore the dynamic target object. The target object modeling unit displays a target object area expanded according to the time on a grid map in which is previously built. The route planning unit calculates a predictive route where one or more robot can be moved for the predetermined time on the grid map. The route planning unit plans a route to explore based on the target object area which is displayed in the target object modeling unit and the calculated predictive route. The control unit controls the robot to move according to the route in which the route planning unit plans. [Reference numerals] (10) Target object modeling unit; (20) Route planning unit; (30) Control unit; (40) Robot
Abstract translation: 目的：通过多个机器人的协作，在动态环境中探索动态目标对象的系统和方法被提供以通过仅在仅仅情况下仅使用对象的速度信息来显示目标对象的位置来探索目标对象 已知动态目标对象的初始位置。 构成：在动态环境中探索动态目标对象的系统（1）包括机器人（40），目标对象建模单元（10），路线规划单元（20）和控制单元（30）。 形成一个或多个机器人来探索动态目标对象。 目标对象建模单元根据先前构建的网格图上的时间显示扩展的目标对象区域。 路线规划单元计算在网格图上可以移动预定时间的一个或多个机器人的预测路线。 路线规划单元根据目标对象建模单元中显示的目标对象区域和计算出的预测路线来计划探索路线。 控制单元控制机器人根据路线规划单元计划的路线移动。 （附图标记）（10）目标对象建模单元; （20）路线规划单位; （30）控制单元; （40）机器人
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公开(公告)号：KR100994075B1
公开(公告)日：2010-11-12
申请号：KR1020080066063
申请日：2008-07-08
Applicant: 한국과학기술연구원
Abstract: 본 발명은 보행로봇의 최적경로를 설계하는 방법에 관한 것으로, 구체적으로는 보행로봇의 특성을 고려하여 장애물을 회피하여 효율적인 주행을 위한 최적경로 계획방법에 관한 것이다. 본 발명의 일 실시예에 따른 보행로봇의 최적경로 계획방법은 초기화하는 단계와, 경로비용을 계산하는 단계와, 후보 목록을 작성하는 단계와, 각 후보 노드의 각도비용, 휴리스틱 비용 및 총비용을 계산하는 단계와, 열린 목록을 작성하는 단계와, 닫힌 목록을 작성하는 단계와, 다음 노드가 목표 노드인지 판단하는 단계를 포함한다.
보행로봇, A* 알고리즘, 최적경로, 회전 최소화, 회전반경, 경로비용
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