APPARATUS AND METHOD FOR PLANNING PATH OF ROBOT AND ROBOT FOR OPERATING BASED ON THE METHOD

摘要

Disclosed are a device and a method for planning a route of a robot, and a robot operating based on the same. According to the present invention, the robot includes: a memory storing one or more commands; a processor calculating a route plan of the robot by executing the one or more commands, and generating a moving command of the robot using the route plan; and a driving unit moving the robot based on the moving command. A processor generates an n number (whole number equal to 2 or greater) of composition spaces (C-space) having information about multiple subjects positioned in an actual space. Also, the processor calculates the route plan of the robot based on the n number of the composition spaces. The information on the subject includes the information in a virtual collision prevention area formed on the surface of the multiple subjects. The robot cannot move to the collision prevention area, and the width of the collision prevention area in each of the n number of the composition spaces is different.