| CPC G05D 1/0214 (2013.01) [G05D 1/0274 (2013.01)] | 12 Claims |
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1. A robot path planning apparatus comprising:
a storage configured to receive an obstacle occupancy grid map; and
a controller configured to:
generate a cost map in which a cost corresponding to a separation distance from an obstacle to a movement area to which a robot is able to move is assigned, based on the obstacle occupancy grid map,
determine a first path from a current location of the robot to a destination,
determine a second path by calibrating the first path based on the cost map, and
control the robot to move along the second path,
wherein determining the second path comprises:
determining one or more areas each having a cost less than a cost of a first area in which a first node on the first path is located, the one or more areas being adjacent to the first area;
calculating one or more vectors from the first area to the determined one or more areas,
determining, as a first location, an area in which a sum of the calculated one or more vectors is located and adjacent to the first node, and
calibrating the first path by moving the first node on the first path to the first location to thereby cause the second path to include the first location, and
wherein the controller is configured to:
calculate a plurality of vectors from the first node on the calibrated first path to two adjacent nodes, respectively,
determine a location corresponding to a sum of the plurality of vectors as a second location of the first node on the calibrated first path, and
calibrate the calibrated first path by moving the first node on the calibrated first path to the second location to thereby cause the second path to replace the first location with the second location.
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