A method for efficiently removing an obstacle comprises the steps of: defining an extended area of each of the obstacles located around the target object; calculating obstacle density from the target object based on the extended area; plotting the calculated obstacle density as a histogram; removing the obstacle having the lowest obstacle density; and gripping the target object by a robot when a histogram value becomes zero according to the removal of the obstacle.

    효율적인 장애물 제거 방법에서, 타깃 물체의 주변에 위치하는 장애물들 각각의 확장영역을 정의하는 단계, 상기 확장영역을 바탕으로, 상기 타깃 물체로부터의 장애물 밀집도를 계산하는 단계, 상기 계산된 장애물 밀집도를 히스토그램으로 도시화하는 단계, 상기 장애물 밀집도가 가장 낮은 장애물을 제거하는 단계, 및 상기 장애물의 제거에 따라 상기 히스토그램 값이 0(zero)이 되면, 로봇이 상기 타깃 물체를 그리핑하는 단계를 포함한다.


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    Title :

    EFFECTIVE OBSTACLE REMOVING METHOD


    Additional title:

    효율적인 장애물 제거 방법


    Contributors:

    Publication date :

    2020-07-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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