Patent ID: 8055383
Filing Date: 2011-11-08
Classification: B25J,G05B

Abstract:
1. A path planning apparatus for planning a path in movement of a moving object from an initial position to a final position, which is adapted to probabilistically generate a midpoint between the initial position and the final position and to plan a path between the initial position and the final position, using the midpoint, the path planning apparatus comprising: constraint setting means for setting a constraint subspace satisfying a constraint to constrain a configuration of the moving object in a work space where the moving object exists, in a movable space defined based on degrees of freedom of the moving object to determine a configuration of the moving object; midpoint generating means for generating a constraint midpoint by projecting a midpoint probabilistically generated in the movable space onto the constraint subspace; path generating means for generating a path connecting the initial position and the final position using the constraint midpoint; and path correcting means for correcting the generated path based on the constraint, wherein the constraint setting means defines the constraint subspace satisfying the constraint in the movable space as the constraint, the path correcting means corrects the path by performing a projection to project the path generated by the path generating means onto the constraint subspace, and if a distance between the path generated by the path generating means and a constraint surface is not less than a predetermined value, then the path correcting means performs a projection onto the constraint surface to correct the path.