PATH PLANNING DEVICE AND METHOD FOR THE AUTONOMOUS MOBILE ROBOT

摘要

PURPOSE: A path planning device and a method thereof are provided to generate the potential field considering the moving path of moving obstacles by applying a weight to a moving direction for the potential field of the moving obstacles. CONSTITUTION: A path planning device includes a map drawing part(110), an obstacle classifying part(120), a vector calculating part(130), a path planning part(140). The map drawing part generates a map about the surrounding environment of a robot by searching the surrounding environment of a robot. The obstacle classifying part classifies obstacles on the map into a fixed obstacle or a moving obstacle. The vector calculating part calculates a virtual resultant vector by using a method generating a potential field considering the moving path of the moving obstacles. The path planning part calculates the path of a robot by using the resultant vector calculated through the vector calculating part.