PATH PLANNING DEVICE AND METHOD OF A ROBOT TO RELIEVE A SHARPLY BENT OR BYPASSED PART OF A CREATED TREE

摘要

PURPOSE: A path planning device and method of a robot are provided to reduce the moving distance of a robot and ensure smooth motion of the robot by applying RRT(Rapidly-exploring Random Tree) algorithm to the robot.;CONSTITUTION: A path planning device of a robot comprises a path planning and generating unit and a robot control unit. The path planning and generating unit completes a path plan by creating a tree(T6) whose branches gently stretch out in a configuration space(C-space). The robot control unit controls the motion of the robot according to the path plan.;COPYRIGHT KIPO 2010