OPTIMAL PATH PRODUCING METHOD OF A MOBILE ROBOT, AND THE MOBILE ROBOT USING THEREOF

摘要

PURPOSE: An optimal path producing method of a mobile robot, and the mobile robot using thereof are provided to regenerate a smooth path by amending a first path produced by a gradient method.;CONSTITUTION: An optimal path producing method of a mobile robot comprises the following steps: generating a first path from a start position to a target position based on the grid cost assigned to each grid point of a grid map using a gradient method(S30, S31); regenerating the first path based on a second path generation method based on the grid cost(S37); and generating a final path(S40).;COPYRIGHT KIPO 2012