METHOD FOR PLANNING PATH FOR AVOIDING COLLISION BETWEEN MULTI-MOBILE ROBOT

摘要

The present invention relates to a route generation method to avoid a collision between a plurality of mobile robots. The route generation method to avoid a collision between the plurality of mobile robots comprises: (a) a step of registering a driving map wherein the plurality of mobile robots drive; (b) a step of registering an initial priority order, a departure point, and a destination on each of the mobile robots; (c) a step of generating a route from the departure point to the destination of each mobile robot based on the driving map in an initial priority order, avoiding a collision between the routes of the mobile robot; (d) a step of driving each of the mobile robots in accordance with the route generated in step (c); (e) a step of estimating a collision between the mobile robots in a driving step of the mobile robots; and (f) a step of regenerating the route of the mobile robot with a low driving priority order based on the driving priority order between a pair of the mobile robots of which the collision is estimated when the collision between the mobile robots is estimated in step (e). As such, the route generation method generates the route which does not overlap and collide with each other to generate the route of the mobile robots by applying a dispersion method.