A purpose of the present invention is to generate a control command so that a moving object travels a path to a wanted destination in a local path planning apparatus. A local path planning method comprises: a step of setting a kinetic energy threshold value of the moving object equivalent to a set maximum linear speed using rotation weight, a linear speed, and an angular speed; a step of using the kinetic energy threshold value to select an intermediate point corresponding to a variable predicted distance according to a curve of the path; a step of determining the control command of the linear speed and the angular speed for moving to the intermediate point; and a step of outputting the control command to the moving object.

    지역경로계획 장치에서 이동체가 원하는 목적지까지의 경로를 이동하도록 제어명령을 생성하기 위해, 설정된 최대 선속도에 등가하는 상기 이동체의 운동에너지 임계값을 설정된 회전가중치와 선속도 및 각속도 관계를 이용하여 설정하고, 상기 운동에너지 임계값을 이용하여 상기 경로의 굴곡에 따라 가변적인 예견거리에 해당하는 중간점을 선택하며, 상기 중간점까지 이동을 위한 선속도와 각속도의 제어명령을 결정한 후, 상기 제어명령을 상기 이동체로 출력한다.


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    Titel :

    LOCAL PATH PLANNING METHOD OF MOVING OBJECT AND APPARATUS THEREOF


    Weitere Titelangaben:

    이동체의 지역경로계획 방법 및 그 장치


    Beteiligte:
    CHOI SUNGLOK (Autor:in) / LEE JAE YEONG (Autor:in)

    Erscheinungsdatum :

    20.10.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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