METHOD OF ANTI-COLLISION ROUTE CREATION BY USING A VEHICLE TYPE MOBILE ROBOT AND A PARKING ASSISTANT SYSTEM USING THEREOF CAPABLE OF OBTAINING GENERALITY, SIMPLICITY, AND OPTIMALITY

摘要

PURPOSE: A method of anti-collision route creation by using a vehicle type mobile robot and a parking assistant system using thereof are provided to obtain generality which can be applied under arbitrary environment and simplicity and lower computation costs for route creation.;CONSTITUTION: A method of anti-collision route creation by using a vehicle type mobile robot comprises next steps: computing oriented unit obstacle configuration space about overlapped domain of position of the mobile robot and obstacles; consecutively connecting a plurality of motion sets in order to form consecutive route; and computing accessible area according to one or more of motion sets based on the oriented unit obstacle configuration space. The accessible area is calculated in each motion set unit. If the accessible area of each motion set includes starting point of the mobile robot, the accessible area including the starting point is set as outbound tolerance region.;COPYRIGHT KIPO 2012