Title:
OPTIMUM ROUTE SEARCHING METHOD FOR MOVING ROBOT
Document Type and Number:
Japanese Patent JPS6232516
Kind Code:
A
Abstract:
PURPOSE:To decrease extremely the number of search branches, and to execute a search in a short time by executing a route search by taking into consideration not only a route length between nodes but also a distance between the next candidate node and an object node. CONSTITUTION:A start node, an object node, and continuous intermediate nodes are denoted as S, G and Vi, Vj, respectively, and an evaluation function H(Vi, Vjx) for selecting the node Vj from the node Vi is defined by an expression. In this case, l(Vjx, G), l(Vi, Vjx), and L denote a distance between the next candidate node Vjx and the object node G, a distance between the present node Vi and the next candidate node Vjx, and the maximum distance between the nodes, respectively. Accordingly, values A(Vix, G) and B (Vi, Vjx) are normalized by the distance L. Wa and Wb are coefficients for weighting of each variable A(Vjx, G), and B(Vi, Vix). By varying suitably weighting of each term, an optimum route search can be executed.
Inventors:
OOMINAMI MASANORI
Application Number:
JP17270285A
Publication Date:
February 12, 1987
Filing Date:
August 06, 1985
Export Citation:
Assignee:
SHINKO ELECTRIC CO LTD
International Classes:
B25J5/00; G01C21/00; B25J9/16; G01C21/34; G05D1/02; G06F19/00; (IPC1-7): B25J5/00; G05D1/02
Domestic Patent References:
| JPS59108200A | 1984-06-22 |
Attorney, Agent or Firm:
Masatake Shiga