AUTONOMOUS DRIVING METHOD OF A MOBILE ROBOT AND AN AUTONOMOUS DRIVING DEVICE FOR PREVENTING THE SEPARATION OF A MOBILE ROBOT FROM A PAIR OF LANES

摘要

PURPOSE: An autonomous driving method of a mobile robot and an autonomous driving device is provided to reduce the time for generating the movement control information of a mobile robot according to a lane by detecting a lane and analyzing the image of a specific section.;CONSTITUTION: An autonomous driving method of a mobile robot(300) comprises the following steps. The front section of the mobile robot is recorded. The front image information is generated. The front image information is processed. The lane distribution information indicating distribution degree of lanes(r1, r2) in front of the mobile robot is generated. The information about repulsive force for lane transferring the mobile robot to the opposite direction of lane is generated using the lane distribution information. The straight forward speed command and the move control information including the speed of rotation command are generated based on the information about repulsive force for lane.;COPYRIGHT KIPO 2012