Route planning method for mobile robot device, involves consecutively spreading map grid from point of origin to target in direction to adjacent map grids until map grids contact with each other, and defining map grids as movement route

摘要

The method involves producing a raster diagram on a basis of a physical environment, where the raster diagram has map grids that contain obstacle parameter values. The obstacle parameter values are fixed for each map grid in a physical environment at a location of an obstacle. The map grid is consecutively spread from a point of origin to a target in a direction to the adjacent map grids until the map grids contact with each other. The map grids are defined as a movement route. Corners of the raster diagram are defined as sequential obstacles. An independent claim is also included for a method for avoiding dynamic obstacles for a mobile robot device.