Path planning method for the autonomous mobile robot

摘要

An object of the present invention relates to a method of using the information of the map, this mobile robot given obstacle using an ultrasonic sensor providing an optimal path that can be safely and quickly to the desired travel target point.; Sensors in general, a mobile robot is a reality and not just have a lack of environmental information to identify the obstacles to the ultrasonic sensor, without an effective algorithm for obstacle avoidance path planning optimal situation is difficult to be achieved. The present invention to solve this problem is, and avoids creating the path by using the optimum path way through the cell decomposition method by using the map information on a given environment (the Dijkstra algorithm), and then an obstacle between the respective feature points (Feature Point), It provides the following feature points to create a safe and path planning of mobile robot that can travel faster way (Feature Point).