Method for Path-planning for Actual Robots

摘要

The present invention can significantly reduce the amount of calculation, there is little chance of falling into local minimum point of the robot considering the characteristics relates to a multi-path planning method of optimization which can be applied to the actual robot, the real robot, the robot of the actual multi-path planning method according to the invention, the robot to create a map for the operation of space map generation step (S100) and; Taking into consideration the nature of the robot converts the generated map to a grid map to set the grid size, according to the grid with respect to the obstacle by the obstacle of the working space for converting a rectangular map conversion step (S200) and; Path planning and performing a route plan for the robot on the basis of the converted map (S300) and; While the plurality of robot operation including the collision avoidance step (S400) to correct the planned route in order to solve the deadlock and which is characterized by consisting of a collision.