KR102097715B1 - 실시간 웨이포인트 경로 개선 방법, 이를 구현하기 위한 프로그램이 저장된 기록매체 및 이를 구현하기 위해 매체에 저장된 컴퓨터프로그램 - Google Patents

실시간 웨이포인트 경로 개선 방법, 이를 구현하기 위한 프로그램이 저장된 기록매체 및 이를 구현하기 위해 매체에 저장된 컴퓨터프로그램 Download PDF

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Publication number
KR102097715B1
KR102097715B1 KR1020190049486A KR20190049486A KR102097715B1 KR 102097715 B1 KR102097715 B1 KR 102097715B1 KR 1020190049486 A KR1020190049486 A KR 1020190049486A KR 20190049486 A KR20190049486 A KR 20190049486A KR 102097715 B1 KR102097715 B1 KR 102097715B1
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South Korea
Prior art keywords
waypoint
path
local
robot
time
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KR1020190049486A
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English (en)
Korean (ko)
Inventor
김태형
천홍석
이재훈
변용진
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주식회사 트위니
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Priority to KR1020190049486A priority Critical patent/KR102097715B1/ko
Priority to PCT/KR2020/002360 priority patent/WO2020222408A1/fr
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Publication of KR102097715B1 publication Critical patent/KR102097715B1/ko

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
KR1020190049486A 2019-04-29 2019-04-29 실시간 웨이포인트 경로 개선 방법, 이를 구현하기 위한 프로그램이 저장된 기록매체 및 이를 구현하기 위해 매체에 저장된 컴퓨터프로그램 KR102097715B1 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020190049486A KR102097715B1 (ko) 2019-04-29 2019-04-29 실시간 웨이포인트 경로 개선 방법, 이를 구현하기 위한 프로그램이 저장된 기록매체 및 이를 구현하기 위해 매체에 저장된 컴퓨터프로그램
PCT/KR2020/002360 WO2020222408A1 (fr) 2019-04-29 2020-02-19 Procédé d'amélioration de trajet de point de cheminement en temps réel, support d'enregistrement dans lequel est stocké un programme de mise en œuvre du procédé, et programme informatique stocké dans un support pour sa mise en œuvre

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020190049486A KR102097715B1 (ko) 2019-04-29 2019-04-29 실시간 웨이포인트 경로 개선 방법, 이를 구현하기 위한 프로그램이 저장된 기록매체 및 이를 구현하기 위해 매체에 저장된 컴퓨터프로그램

Publications (1)

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KR102097715B1 true KR102097715B1 (ko) 2020-04-06

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KR1020190049486A KR102097715B1 (ko) 2019-04-29 2019-04-29 실시간 웨이포인트 경로 개선 방법, 이를 구현하기 위한 프로그램이 저장된 기록매체 및 이를 구현하기 위해 매체에 저장된 컴퓨터프로그램

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KR (1) KR102097715B1 (fr)
WO (1) WO2020222408A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
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CN111580563A (zh) * 2020-06-09 2020-08-25 中国电子科技集团公司第五十四研究所 一种基于种子搜索的无人机自主避障飞行方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220301440A1 (en) * 2021-03-02 2022-09-22 Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company Conflict detection and avoidance along a current route of a robot

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KR20110074629A (ko) * 2008-10-24 2011-06-30 그레이 앤 컴퍼니, 인크. 자율 운전 차량의 제어 및 시스템
KR101079197B1 (ko) 2010-03-25 2011-11-03 부산대학교 산학협력단 자율주행 장치의 경로추적 방법
KR20160000162A (ko) * 2014-06-24 2016-01-04 주식회사 네오텍 안내용 서비스 로봇의 자율주행 방법
KR20160070467A (ko) * 2014-12-10 2016-06-20 재단법인대구경북과학기술원 장애물 회피를 위한 멀티로봇 시스템 및 장애물 회피를 위한 스위칭 대형 전략을 이용하는 방법
KR20170024769A (ko) * 2015-08-26 2017-03-08 주식회사 뉴로메카 로봇 제어 장치
KR20180092960A (ko) * 2015-12-09 2018-08-20 퀄컴 인코포레이티드 고속 탐색 랜덤화 피드백 기반의 모션 계획

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KR20110074629A (ko) * 2008-10-24 2011-06-30 그레이 앤 컴퍼니, 인크. 자율 운전 차량의 제어 및 시스템
KR101079197B1 (ko) 2010-03-25 2011-11-03 부산대학교 산학협력단 자율주행 장치의 경로추적 방법
KR20160000162A (ko) * 2014-06-24 2016-01-04 주식회사 네오텍 안내용 서비스 로봇의 자율주행 방법
KR20160070467A (ko) * 2014-12-10 2016-06-20 재단법인대구경북과학기술원 장애물 회피를 위한 멀티로봇 시스템 및 장애물 회피를 위한 스위칭 대형 전략을 이용하는 방법
KR20170024769A (ko) * 2015-08-26 2017-03-08 주식회사 뉴로메카 로봇 제어 장치
KR20180092960A (ko) * 2015-12-09 2018-08-20 퀄컴 인코포레이티드 고속 탐색 랜덤화 피드백 기반의 모션 계획

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Title
노진홍 외 3명, "Determination of Local Goal for a Mobile Robot with Sporadic Human Commands of Tele-operation", Proceedings of the 27th IEEE International Symposium on Robot and Human Interactive Communication, pp.546-551(2018.08.31.)* *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111580563A (zh) * 2020-06-09 2020-08-25 中国电子科技集团公司第五十四研究所 一种基于种子搜索的无人机自主避障飞行方法

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