Method of dividing coverage area for robot and device thereof
First Claim
1. A method of dividing a coverage area of a robot, the method comprising:
- producing an occupancy grid map comprising grid points that are probabilistically distributed by sensing a distance from an obstacle;
producing a configuration space map by increasing a thickness of an obstacle and a wall in the occupancy grid map based on a radius and a size of the robot; and
dividing an area by sweeping the area with a band-typed slice in one direction in the configuration space map.
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Abstract
A method of dividing a coverage area of a robot and a device for the same. That is, a method of producing a space map for a robot to work and dividing the space map into at least one segment and a device for the same. The method includes producing an occupancy grid map composed of grid points that are probabilistically distributed by sensing a distance from an obstacle, producing a configuration space map by increasing the thickness of an obstacle and a wall in the occupancy grid map on the basis of the radius and size of the robot, and dividing an area by sweeping the area with a band-typed slice in the configuration space map.
40 Citations
21 Claims
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1. A method of dividing a coverage area of a robot, the method comprising:
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producing an occupancy grid map comprising grid points that are probabilistically distributed by sensing a distance from an obstacle; producing a configuration space map by increasing a thickness of an obstacle and a wall in the occupancy grid map based on a radius and a size of the robot; and dividing an area by sweeping the area with a band-typed slice in one direction in the configuration space map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A device for dividing a coverage area of a robot, the device comprising:
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an occupancy grid map-producing unit to produce an occupancy grid map comprising grid points that are probabilistically distributed by sensing a distance from an obstacle; a configuration space map-producing unit to produce a configuration space map by increasing a thickness of an obstacle and a wall in the occupancy grid map based on a radius and a size of the robot; and a dividing unit to divide an area by sweeping the area in a predetermined direction with a band-typed slice in the configuration space map. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification