METHOD FOR CHECKING A TRAVELABLE AREA OF A PLANE OF TRAVEL FOR A ROBOT, ROBOT AND RECORDING MEDIUM

摘要

Provided is a method for checking a travelable area of a plane of travel for a robot. The method for checking a travelable area of a plane of travel for a robot according to one embodiment of the present invention comprises: a) a step of forming a geometrical model of the plane of travel; b) a step of generating a triangular mesh by means of a triangulation of a curved surface of the plane of travel using the geometrical model; c) a step of calculating an angle between one triangle and a neighboring triangle thereof from among a plurality of triangles within the triangular mesh; and d) a step of determining whether or not the angle between the one triangle and the neighboring triangle thereof from among the plurality of triangles is within a range permitting travel of the robot so as to check the travelable area of the robot.