COURSE PLANNING DEVICE, COURSE PLANNING METHOD, AND COMPUTER PROGRAM

摘要

PROBLEM TO BE SOLVED: To find a course to avoid an obstacle and modify it into a smooth course easy to use for movement control and course planning.;SOLUTION: First, a Rapidly-exploring Random Tree (RRT) is used to rapidly acquire a course from a start to a goal. Then, requirements such as course smoothing and optimization and avoidance of inter-object penetration are expressed in forces and added to respective mass points in a multi-mass system dynamics simulation with respective nodes on the course found in the RRT as mass points, and the dynamics simulation with a position on the course found in the RRT as an initial condition is performed to generate a course meeting all the requirements.;COPYRIGHT: (C)2009,JPO&INPIT