Mobile robot and method for moving mobile robot
First Claim
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1. A mobile robot comprising:
- a controlling unit to estimate a position of the mobile robot by use of detection information;
an obstacle map building unit to build an obstacle map indicating an obstacle area including an obstacle based on the estimated position and obstacle detection information;
a path generating unit to expand the obstacle area by a first thickness to build a first configuration space map, expand the obstacle area by a second thickness which is less than the first thickness to build a second configuration space map, and to generate a path by sequentially using the first configuration space map and the second configuration space map; and
a moving unit to move the mobile robot along the path.
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Abstract
Disclosed is a mobile robot and method generating a path of the mobile robot, capable of quickly moving the mobile robot to a location at which the mobile robot is able to detect a docking station. A first configuration space map is built by expanding an obstacle area including an obstacle by a first thickness, and a second configuration space map is built by expanding the obstacle area by a second thickness which is less than the first thickness. A path is generated by sequentially using the first configuration space map and the second configuration space map.
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Citations
16 Claims
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1. A mobile robot comprising:
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a controlling unit to estimate a position of the mobile robot by use of detection information; an obstacle map building unit to build an obstacle map indicating an obstacle area including an obstacle based on the estimated position and obstacle detection information; a path generating unit to expand the obstacle area by a first thickness to build a first configuration space map, expand the obstacle area by a second thickness which is less than the first thickness to build a second configuration space map, and to generate a path by sequentially using the first configuration space map and the second configuration space map; and a moving unit to move the mobile robot along the path. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of moving a mobile robot, the method comprising:
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building an obstacle map indicating an obstacle area including an obstacle by use of an estimated position of the mobile robot and obstacle detection information; building a first configuration space map by expanding the obstacle area by a first width; building a second configuration space map by expanding the obstacle area by a second width which is less than the first width; and generating a path by sequentially using the first configuration space map and the second configuration space map so that the mobile robot moves along the path. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A method of moving a mobile robot, the method comprising:
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detecting an area around the mobile robot; determining a presence of a first boundary point present at a first boundary in the area around the mobile robot, which is selected from boundaries between an unknown area determined by detecting the area around the mobile robot and an empty area around the mobile robot lacking an obstacle and has a width larger than a predetermined width; when the first boundary point is present, moving the mobile robot to the first boundary point; and when the first boundary point is not present, moving to a second boundary point present at a second boundary which is selected from the boundaries and has a width smaller than the predetermined width.
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Specification