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DRIVING PATH PLAN USING A CIRCLE TRAJECTORY OF AN AUTONOMOUS MOVEMENT DEVICE AND A TRACING METHOD THEREOF FOR MINIMIZING THE OPERATION QUANTITY OF A PATH PLAN
DRIVING PATH PLAN USING A CIRCLE TRAJECTORY OF AN AUTONOMOUS MOVEMENT DEVICE AND A TRACING METHOD THEREOF FOR MINIMIZING THE OPERATION QUANTITY OF A PATH PLAN
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机译:利用自动运动装置的圆形轨迹驾驶路径计划及其跟踪方法以最小化路径计划的操作量
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摘要
PURPOSE: A driving path plan using a circle trajectory of an autonomous movement device and a tracing method thereof are provided to use minimum energy within a safe range, thereby planning a minimum distance.;CONSTITUTION: A circle trajectory generation unit(101) generates a first circle trajectory based on a current driving location. The circle trajectory generation unit generates a second circle trajectory based on a target location. A path plan and driving control unit(102) generates the common tangent trajectory of the first circle trajectory and the second circle trajectory and generates the whole driving plan.;COPYRIGHT KIPO 2013;[Reference numerals] (101) Circle trajectory generation unit; (102) Path plan and driving control unit; (AA) Autonomous mobile device(ex: robot); (BB) First and second circle trajectory
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