Space filtering method for obstacle avoidance robots

摘要

The present invention relates to a spatial filtering method for obstacle avoidance of mobile robot with a plurality of distance sensors will. The spatial filtering method, (a) determine a plurality of points using the obstacle distance sensor, and measuring the distance information of the mobile robot and for each obstacle points; (B) setting a shortest branch of the obstacle on the measured distance information to the navigation point; (C) step of searching the region of the circle to the search points in the robot's width (W) with the center at a radius; (D) step of searching all of the obstacle point in the area of the search source; (E) selecting the obstacle point disposed at a position spaced apart by the largest angle of the search point and the searched obstacle points; (F) the step of setting a search point to the selected point and the obstacle and a straight line connecting the (d) region formed by connecting points in the search step as the running obstacle avoidance region; And a; (g) performing step (b) to (f) steps for the other obstacle than the obstacle branch point searched in (a) the points of the obstacle detected in step (d) comprises . ; by excluding the area where there are obstructions in the narrower width than the mobile robot according to the present invention in a traveling area, it is possible to improve the efficiency of the autonomous navigation of the mobile robot and the obstacle avoidance.