Method and apparatus for planning path of mobile robot
First Claim
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1. An apparatus for planning a path of a mobile robot, the apparatus comprising:
- a coarse map creating unit creating a coarse map which comprises path information of the mobile robot; and
a virtual door extracting unit extracting virtual doors which divide the coarse map into a plurality of sub regions,wherein the mobile robot sequentially cleans the sub regions one by one.
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Abstract
The apparatus includes a coarse map creating unit creating a coarse map which includes path information of the mobile robot; and a virtual door extracting unit extracting virtual doors which divide the coarse map into a plurality of sub regions, where the mobile robot sequentially cleans the sub regions one by one. The method includes creating a coarse map which includes path information of the mobile robot; extracting virtual doors which divide the coarse map into a plurality of sub regions; and sequentially cleaning the sub regions one by one.
86 Citations
25 Claims
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1. An apparatus for planning a path of a mobile robot, the apparatus comprising:
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a coarse map creating unit creating a coarse map which comprises path information of the mobile robot; and a virtual door extracting unit extracting virtual doors which divide the coarse map into a plurality of sub regions, wherein the mobile robot sequentially cleans the sub regions one by one. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of planning a path of a mobile robot, the method comprising:
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creating a coarse map which comprises path information of the mobile robot; extracting virtual doors which divide the coarse map into a plurality of sub regions; and sequentially cleaning the sub regions one by one. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A mobile cleaning robot, comprising:
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a relative position measuring unit; an absolute position measuring unit; an obstacle sensing unit, a coarse map creating unit to create a coarse map which includes path information for the mobile robot; a virtual door extracting unit to extract virtual doors which divide the coarse map into a plurality of sub regions; a path setting unit to set a path, along which the mobile cleaning robot can move within a shortest time, in each of the sub regions; and a motion control unit to move the mobile robot to sequentially clean the sub regions one by one. - View Dependent Claims (22, 23, 24, 25)
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Specification