| 摘要 |
PURPOSE: A method for optimizing a global route of a movable robot is provided to improve the performance of a route plan as the smooth global route can be helpful for the movement of the robot. CONSTITUTION: A method for optimizing a global route of a movable robot includes the following steps of: forming the global path composed of a plurality of nodes having identical location values on a map via a route planning algorithm (S110); generating the virtual sensor data of each node based on the information of the distances to obstacles in all direction around each node (S120); calculating a power vector which is generated to be inversely proportional to values of the virtual sensor data and actuated in a direction opposite to the virtual sensor data around each node based on the generated virtual sensor data (S130); and correction the positions of each node by applying the sum of the calculated power vector to the nodes (S140). [Reference numerals] (AA) Start; (BB) End; (S110) Form routes in all directions by using a common route planning algorithm; (S120) Generate the virtual sensor data of each node in the routes in all directions; (S130) Calculate a power vector which is generated to be inversely proportional to values of the virtual sensor data; (S140) Correct the position of each node by applying the sum of the calculated power vector to the nodes; (S150) Correct the position of each node again by applying a route correction vector to the each corrected node |
