DEVICE FOR SEARCHING AREA AND MAPPING FOR PATH OF INTELLIGENT ROBOT IN UNKNOWN ENVIRONMENTS

摘要

A device to search and map an area to generate a moving path of an intelligent robot in unknown environments includes: a sensor unit mounted on the intelligent robot to search surrounding area information of the robot; a grid map generating unit to generate a grid map based on the surrounding area information searched by the sensor unit; an area searing unit to set a minimum bounding rectangle (MBR) area including a blank area and an obstacle based on the grid map, and setting a first rectangle area including the current position of the robot, and a second rectangular area to n^th rectangular area adjacent to the first rectangular region for the set MBR area using a rectangle tiling method; a hybrid map generating unit to generate a hybrid map mixed with the grid map and a topology map based on the rectangular area set by the area searching unit; a map storing unit to store the hybrid map generated by the hybrid map generating unit and the grid map generated by the grid map generating unit; a moving path generating unit to generate the moving path of the robot based on the MBR area set by the area searching unit; and a map updating unit, if the intelligent robot moves along the moving path, to update the m^th rectangular area newly searched by the area searching unit to update the hybrid map and the grid map stored in the map storing unit.