| 摘要 |
A path planning method for a mobile robot traveling on a ship cargo tank is provided to improve the productivity of a ship cargo tank by forming the optimum robot moving path for performing works including a marking process for a ship cargo tank. A path planning method for a mobile robot traveling on a ship cargo tank comprises the steps of converting two-dimensional position data on each wall of a cargo tank into three-dimensional position data(S10), inputting the working position data on works to be performed on each wall of the cargo tank(S20), grouping the inputted working position data and setting up movement points(S30), setting up the positional relationships between the movement points(S40), extracting the data on an obstacle of each wall of the cargo tank(S50), outputting the plan for all moving paths of a mobile robot(S60), outputting the optimum moving path having the optimum working hours among the moving paths of the mobile robot(S70), matching the optimum moving path with work order data(S80), and producing a work order sheet for the mobile robot to enable to decipher the optimum moving path and the work order data(S90).
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