The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 02, 2014
Filed:
Apr. 25, 2012
Chyon Hae Kim, Wako, JP;
Shigeki Sugano, Tokyo, JP;
Shota Yamazaki, Tokyo, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
A trajectory planning method according to the present invention is one for obtaining a trajectory for controlling a state of an object toward a goal state by a trajectory planning system. The method includes the steps of dividing, by a cell generating section for dividing a state space of the object into cells, the state space into cells in such a way that approximation error due to discretization is minimized for a predetermined number of cells; generating, by a search tree generating section, a search tree which corresponds to state transition of the object in such a way that each cell does not contain more than one of nodes of branches of the search tree; and determining, by a trajectory generating section, a path from the current state to the goal state of the object using the search tree.