Twinny Co., Ltd.

Han Min Jo

Hong Seok Cheon

Tae Hyoung Kim

Jai Hoon Lee

The present invention relates to a sampling based optimal tree planning method, a recording medium storing a program for executing the same, and a computer program stored in the computer-readable recording medium for executing the same, more particularly to, a sampling based optimal tree planning method, a recording medium storing a program for executing the same, and a computer program stored in the computer-readable recording medium for executing the same for enabling real-time path planning by reducing the number of nodes that require calculation by excluding state values corresponding to input values that a mobile robot cannot select from the calculation and sampling some state values of a set of state values feasible for the robot when planning a path in a tree structure.

Sampling based optimal tree planning method and recording medium storing program for executing the same, and computer program stored in recording medium for executing the same

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Daejeon, South Korea

Han Min Jo