| 摘要 |
According to an embodiment, a system for a mobile robot to avoid an obstacle comprises: a sensing part sensing an obstacle placed around a mobile robot moving towards a target spot; a position obtaining part obtaining position information of the mobile robot, the obstacle, and the target spot; a signal generating part generating a switching signal determined considering a relative angle, and a distance between the robot and the obstacle when the sensing part senses the obstacle; a vector calculating part calculating a gravitational vector between the target spot and the mobile robot, and a repulsive vector between the obstacle and the mobile robot through the position information obtained from the position obtaining part; and a route determining part determining a route for the robot using the repulsive vector, the gravitational vector, and the switching signal. With the switching signal, the driving of the mobile robot is able to be controlled in real time. |
