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    • 6. 发明授权
    • Method for generation of 2-dimensional motion path
    • 二维运动路径的生成方法
    • US07271807B2
    • 2007-09-18
    • US10824542
    • 2004-04-15
    • Joo Haeng LeeHyun KimHyoung Sun KimJin Mi Jung
    • Joo Haeng LeeHyun KimHyoung Sun KimJin Mi Jung
    • G06T13/00
    • G05D1/0212G06T11/001G06T11/203G06T2210/21
    • A method for simultaneous generation of motion paths depending on changes of internal and external sizes of an object by a direction map for a 2-dimensional geometric figure, includes respectively expressing specific obstacle A and object B inputted through an input unit, by direction maps; merging the direction maps respectively expressing the obstacle and the object; determining Minkowski operation after sizes of the obstacle and the object are determined; performing a necessary group unit based size control operation for a direction map obtained by merging each of the direction maps of the obstacle and the object in the second step; performing collinear elimination for the result obtained in the fourth step, performing a direction map inverse operation, and performing a trimming operation to generate the motion path; and calculating a c-space obstacle for obstacle and object having different external and internal sizes.
    • 根据用于二维几何图形的方向图,根据物体的内部和外部尺寸的变化同时生成运动路径的方法包括分别通过方向图表示通过输入单元输入的特定障碍物A和物体B. 分别表示障碍物和物体的方向图合并; 在确定障碍物和物体的大小之后确定闵可夫斯基操作; 对通过在第二步骤中合并障碍物和对象的每个方向图而获得的方向图进行必要的基于组单位的大小控制操作; 对第四步骤中获得的结果进行共线消除,执行方向图反向操作,并进行修整操作以产生运动路径; 并计算具有不同外部和内部尺寸的障碍物和物体的c空间障碍物。