KR100915527B1 - 경로 탐색 방법 - Google Patents
경로 탐색 방법Info
- Publication number
- KR100915527B1 KR100915527B1 KR1020070066477A KR20070066477A KR100915527B1 KR 100915527 B1 KR100915527 B1 KR 100915527B1 KR 1020070066477 A KR1020070066477 A KR 1020070066477A KR 20070066477 A KR20070066477 A KR 20070066477A KR 100915527 B1 KR100915527 B1 KR 100915527B1
- Authority
- KR
- South Korea
- Prior art keywords
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- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000007781 pre-processing Methods 0.000 claims abstract description 23
- 230000008569 process Effects 0.000 description 9
- 238000010845 search algorithm Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003111 delayed effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (10)
- 삭제
- 삭제
- 삭제
- 삭제
- (a) 이동체가 격자 맵 상에서 차지하는 격자 셀의 크기를 토대로 상기 격자 맵의 막힘 영역을 확장한 전처리 맵을 생성하는 단계와,(b) 상기 전처리 맵에서 기 설정된 크기의 셀들을 병합하여 블록 맵을 생성하는 단계와,(c) 상기 블록 맵을 이용하여 출발지에서 목적지까지의 블록 경로를 산출하는 단계와,(d) 상기 산출된 블록 경로에 속하는 각 블록 내 셀들에 대해서 다시 셀 단위로 경로 탐색을 수행하여 상세 경로를 산출하는 단계를 포함하는 경로 탐색 방법.
- 제 5 항에 있어서,상기 (a) 단계는,(a-1) 상기 이동체가 차지하는 격자 셀의 크기를 윈도우로 설정하는 단계와,(a-2) 상기 윈도우 내의 모든 셀들이 비어 있는 셀인 경우 빈 셀로 설정하고, 그렇지 않을 경우 막힌 셀로 설정하는 단계를 더 포함하는 경로 탐색 방법.
- 제 5 항에 있어서,상기 (b) 단계는,(b-1) 상기 전처리 맵에서 블록 크기를 설정하는 단계와,(b-2) 상기 설정된 블록 크기 내 셀들의 상태를 토대로 상기 블록 맵 내 각 블록을 막힌 블록 또는 빈 블록으로 설정하는 단계를 더 포함하는 경로 탐색 방법.
- 제 7 항에 있어서,상기 블록 크기는, 상기 격자 맵에서의 막힌 영역의 확장 크기 이하로 설정되는 것을 특징으로 하는 경로 탐색 방법.
- 제 8 항에 있어서,상기 막힌 영역의 확장 크기는, 상기 이동체가 차지하는 셀의 크기가 m×m인 경우 (m-1)/2인 것을 특징으로 하는 경로 탐색 방법.
- 제 7 항에 있어서,상기 (b-2) 단계는,상기 블록 크기 내의 모든 셀이 막힌 셀인 경우 상기 막힌 블록으로 설정하고, 그 외의 경우 상기 빈 블록으로 설정하는 것을 특징으로 하는 경로 탐색 방법.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020070066477A KR100915527B1 (ko) | 2007-07-03 | 2007-07-03 | 경로 탐색 방법 |
US12/667,407 US8296064B2 (en) | 2007-07-03 | 2007-12-17 | Path search method |
PCT/KR2007/006578 WO2009005188A1 (en) | 2007-07-03 | 2007-12-17 | Path search method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020070066477A KR100915527B1 (ko) | 2007-07-03 | 2007-07-03 | 경로 탐색 방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20090003644A KR20090003644A (ko) | 2009-01-12 |
KR100915527B1 true KR100915527B1 (ko) | 2009-09-04 |
Family
ID=40226212
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020070066477A KR100915527B1 (ko) | 2007-07-03 | 2007-07-03 | 경로 탐색 방법 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8296064B2 (ko) |
KR (1) | KR100915527B1 (ko) |
WO (1) | WO2009005188A1 (ko) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5037248B2 (ja) * | 2007-07-17 | 2012-09-26 | 株式会社日立製作所 | 情報収集システムおよび情報収集ロボット |
US8234032B2 (en) * | 2008-11-10 | 2012-07-31 | Electronics And Telecommunications Research Institute | Method and apparatus for generating safe path of mobile robot |
FR2985016B1 (fr) * | 2011-12-22 | 2016-07-01 | Thales Sa | Procede de calcul d'un chemin entre un point de depart et un point d'arrivee sur une carte representative d'un terrain |
US9606542B2 (en) * | 2012-01-12 | 2017-03-28 | International Business Machines Corporation | Discovery and monitoring of an environment using a plurality of robots |
CN102799781B (zh) * | 2012-07-16 | 2015-10-28 | 福建天晴数码有限公司 | 虚拟场景中有宽度物体移动路径的优化方法 |
CN102841621B (zh) * | 2012-09-21 | 2014-12-17 | 苏州工业园区职业技术学院 | 微电脑鼠快速冲刺自动控制系统 |
CN103957224B (zh) * | 2014-05-21 | 2019-11-19 | 腾讯科技(深圳)有限公司 | 一种在线游戏中的人物移动方法和系统 |
KR101766640B1 (ko) * | 2014-09-24 | 2017-08-09 | 삼성에스디에스 주식회사 | 이동체의 기준 경로 계산 장치 및 방법 |
CN105511485B (zh) * | 2014-09-25 | 2018-07-06 | 科沃斯机器人股份有限公司 | 用于自移动机器人栅格地图的创建方法 |
CN105716613B (zh) * | 2016-04-07 | 2018-10-02 | 北京进化者机器人科技有限公司 | 一种机器人避障中的最短路径规划方法 |
CN106323293B (zh) * | 2016-10-14 | 2018-12-25 | 淮安信息职业技术学院 | 基于多目标搜索的两群多向机器人路径规划方法 |
KR101997030B1 (ko) * | 2017-12-26 | 2019-07-05 | 동강엠텍 (주) | 선박 최적 항로 추론 장치 |
CN109443363B (zh) * | 2018-11-09 | 2020-10-16 | 厦门大学 | 分治确定性路径寻优算法 |
CN109190861B (zh) * | 2018-11-14 | 2021-06-25 | 深圳中广核工程设计有限公司 | 一种核电站维修路径规划方法和装置 |
CN110968658B (zh) * | 2019-11-28 | 2022-12-16 | 安徽云森物联网科技有限公司 | 一种用于跳点搜索最短路径算法的矢量地图预处理方法 |
CN111938513B (zh) * | 2020-06-30 | 2021-11-09 | 珠海市一微半导体有限公司 | 一种机器人越障的沿边路径选择方法、芯片及机器人 |
CN113607162B (zh) * | 2021-10-09 | 2021-12-28 | 创泽智能机器人集团股份有限公司 | 一种基于三维地图的路径规划方法及设备 |
Citations (4)
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JPH08334375A (ja) * | 1995-06-09 | 1996-12-17 | Zanavy Informatics:Kk | 経路探索方法 |
JPH1185273A (ja) * | 1997-09-02 | 1999-03-30 | Technol Res Assoc Of Medical & Welfare Apparatus | 自律走行ロボット用経路生成装置および経路生成方法およびそのためのプログラムを格納した記憶媒体 |
KR20050111138A (ko) * | 2004-05-21 | 2005-11-24 | 삼성광주전자 주식회사 | 로봇 청소기의 청소방법 |
KR100611328B1 (ko) * | 2005-06-30 | 2006-08-11 | 고려대학교 산학협력단 | 세선화 기반 위상지도의 작성방법 및 그 장치, 이동로봇의탐사를 통한 세선화 기반 위상지도 작성방법 및 그 장치 |
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EP1571515A1 (en) * | 2004-03-04 | 2005-09-07 | Leica Geosystems AG | Method and apparatus for managing data relative to a worksite area |
JP4479372B2 (ja) * | 2004-06-25 | 2010-06-09 | ソニー株式会社 | 環境地図作成方法、環境地図作成装置、及び移動型ロボット装置 |
EP1766439A2 (en) * | 2004-07-01 | 2007-03-28 | ExxonMobil Upstream Research Company | Hydrodynamics-based gridding geologic modeling (hydro-gridding) |
KR100745975B1 (ko) * | 2004-12-30 | 2007-08-06 | 삼성전자주식회사 | 그리드 맵을 사용하여 최소 이동 경로로 이동하는 방법 및장치 |
KR100690777B1 (ko) | 2005-04-18 | 2007-03-09 | 엘지전자 주식회사 | 최적 경로 탐색 방법 |
US7574428B2 (en) * | 2005-10-11 | 2009-08-11 | Telmap Ltd | Geometry-based search engine for navigation systems |
KR100748245B1 (ko) | 2005-12-09 | 2007-08-10 | 한국전자통신연구원 | 인공표식과 지역좌표계를 이용한 이동로봇의 환경지도 작성방법 및 이동 방법 |
US7587260B2 (en) * | 2006-07-05 | 2009-09-08 | Battelle Energy Alliance, Llc | Autonomous navigation system and method |
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2007
- 2007-07-03 KR KR1020070066477A patent/KR100915527B1/ko active IP Right Grant
- 2007-12-17 US US12/667,407 patent/US8296064B2/en active Active
- 2007-12-17 WO PCT/KR2007/006578 patent/WO2009005188A1/en active Application Filing
Patent Citations (4)
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JPH08334375A (ja) * | 1995-06-09 | 1996-12-17 | Zanavy Informatics:Kk | 経路探索方法 |
JPH1185273A (ja) * | 1997-09-02 | 1999-03-30 | Technol Res Assoc Of Medical & Welfare Apparatus | 自律走行ロボット用経路生成装置および経路生成方法およびそのためのプログラムを格納した記憶媒体 |
KR20050111138A (ko) * | 2004-05-21 | 2005-11-24 | 삼성광주전자 주식회사 | 로봇 청소기의 청소방법 |
KR100611328B1 (ko) * | 2005-06-30 | 2006-08-11 | 고려대학교 산학협력단 | 세선화 기반 위상지도의 작성방법 및 그 장치, 이동로봇의탐사를 통한 세선화 기반 위상지도 작성방법 및 그 장치 |
Also Published As
Publication number | Publication date |
---|---|
US20110010083A1 (en) | 2011-01-13 |
KR20090003644A (ko) | 2009-01-12 |
WO2009005188A1 (en) | 2009-01-08 |
US8296064B2 (en) | 2012-10-23 |
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