본 발명은 장애물 회피 경로 생성 방법에 관한 것이다. 장애물 회피 경로 생성 방법은, 이동체가 이동하는 초기 위치에서 목적 위치까지의 기준 경로를 생성하는 단계, 생성된 기준 경로를 이동체의 제어값을 생성하기 위한 제어기에 제공하여 기준 경로에 대응하는 제어값을 생성하는 단계, 생성된 제어값을 이동체와 연관된 운동학적 모델에 제공하여 이동체가 기준 경로를 추종하기 위한 스테이트를 추출하는 단계 및 추출된 스테이트를 기초로 기준 경로에 대응하는 제어 가능한 경로를 생성하는 단계를 포함한다.

    A method for generating an obstacle avoidance path, performed by at least one processor includes generating a reference path from an initial location to a target location for a moving object to move, providing the generated reference path to a controller for generating a control value of the moving object to generate a control value corresponding to the reference path, providing the generated control value to a kinematic model related to the moving object to extract a state for the moving object to follow the reference path, and generating a feasible path corresponding to the reference path based on the extracted state.


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    Title :

    METHOD AND SYSTEM FOR GENERATING OBSTACLE AVOIDANCE PATH


    Additional title:

    장애물 회피 경로 생성 방법 및 시스템


    Contributors:

    Publication date :

    2024-11-26


    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 / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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