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1. 发明授权

US07519457B2 Path generator for mobile object 有权
标题翻译：移动对象的路径生成器
公开(公告)号：US07519457B2
公开(公告)日：2009-04-14
申请号：US11452270
申请日：2006-06-14
申请人： Yuji Hasegawa , Kentarou Yamada
发明人： Yuji Hasegawa , Kentarou Yamada
IPC分类号： G06F19/00
CPC分类号： G05D1/0212 , G05D1/0274 , G05D1/028
摘要： A path generator includes a map generator for generating a map for a movement space based on information on the position and shape of a mobile object, an obstacle, and a target object. It also includes a composite potential generator for calculating an attractive potential and a repulsive potential based on relative positional relationship among the mobile object, the obstacle, and the destination position, and generating a composite potential that is a sum of the attractive potential and the repulsive potential. A local minimum determination unit performs a path search in the map based on the composite potential and determines whether a convergence position of the path search is a local minimum. If it is, a phantom potential generator generates a phantom potential to be added to the potential of the convergence position. If the convergence position is the destination position, a path generator generates a movement path for the mobile object based on the result of the path search.
摘要翻译：路径发生器包括：地图生成器，用于基于关于移动对象，障碍物和目标对象的位置和形状的信息来生成用于移动空间的地图。它还包括用于基于移动物体，障碍物和目的地位置之间的相对位置关系计算吸引电位和排斥电位的复合电位发生器，并且产生作为吸引电位和排斥性之和的复合电位潜在。局部最小确定单元基于复合电位在地图中执行路径搜索，并且确定路径搜索的会聚位置是否是局部最小值。如果是，则幻象电位发生器产生要加到会聚位置的电位的幻影电位。如果收敛位置是目的地位置，则路径发生器基于路径搜索的结果生成移动对象的移动路径。

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