| 摘要 |
The present invention relates to a movement path generating method of a mobile robot using a virtual wall layer, comprising a step of receiving virtual wall information about additionally generated obstacles on a robot map from a robot manager and generating and storing a virtual wall layer including the virtual wall information; a step of estimating a current position and a moving position of a robot based on a robot map information layer stored in the mobile robot; a step of forming a movement path map including a virtual wall by overlapping the virtual wall layer on the robot map information layer; and a step of generating a movement path of the robot based on the movement path map including the virtual wall. |
