ROUTE PLANNING METHOD AND DEVICE USING A MULTI-LEVEL CONFIGURATION SPACE CAPABLE OF PLANNING EFFECTIVE ROUTE OF A MOBILE ROBOT BY REDUCING CALCULATION REQUIRED TO CREATE A CONFIGURATION SPACE

摘要

PURPOSE: Route planning method and device using a multi-level configuration space are intended to provide optimal route since the creation of a configuration obstacle in consideration of real shape of a mobile robot is partially applied to a configuration space created at a first step.;CONSTITUTION: A route planning method using a multi-level configuration space is as follows. A configuration space comprising a configuration obstacle is created using the circle-approximated configuration of a moving object(220). If the number of obstacles and the number of configuration obstacles are the same, a configuration obstacle, at which a straight line connecting a start point of the moving object and a destination point meets, is obtained(230). A configuration obstacle is re-created by considering at least one of the shape, direction and rotating angle of the moving object to the obtained configuration obstacle(240).;COPYRIGHT KIPO 2012