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

Inventor： 김창환 ,  김남훈 ,  박귀태 ,  강연식 ,  임헌영 ,  권민혁

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