PATH PLANNING METHOD FOR AUTONOMOUS ROBOT AND PATH PLANNING SYSTEM THEREOF

摘要

PURPOSE: A path planning method of an autonomous robot and a path planning device having the same are provided to autonomously drives a robot by searching a path of a minimum distance in consideration of a present steering angle and the steering energy of the robot. CONSTITUTION: A path planning method of an autonomous robot is as follows. A grid map is generated by using a sensor and a geographical feature detector(S22). A present yaw angle and a peripheral steering angle of a robot are calculated(S23). Eight directions with respect to obstacles are searched(S24). An estimated cost for moving the robot to a target spot is calculated. The robot autonomously drives along an optimal path because virtual movement is performed along the set path(S31).