ROUTE GENERATION DEVICE OF A MOBILE ROBOT, A MOBILE ROBOT INCLUDING THE SAME, AND A ROUTE GENERATION METHOD OF THE MOBILE ROBOT CAPABLE OF GENERATING THE SAFE ROUTE OF THE MOBILE ROBOT EVEN IF A VIRTUAL COLLISION EXISTS

摘要

PURPOSE: A route generation device of a mobile robot, a mobile robot including the same, and the route generation method are provided to plan the movement route in real time by calculating the security grade by using the distance information with the obstacle.;CONSTITUTION: A route generation method of the mobile robot(100) comprises the following steps. The environment map including obstacles(141) is inputted. The obstacle in which the safety grade about the mobile robot is less than the first specific standard is deleted. The movement route between the goal and start point is generated. The deleted obstacle is recovered. The security level about the recovered obstacle is tested. If the security level about the recovered obstacle is less than the second specific standard, the waypoint is generated between the start point and goal. The movement route is changed using the waypoint.;COPYRIGHT KIPO 2011