METHOD AND APPARATUS OF PATH PLANNING FOR A MOBILE ROBOT

摘要

A method for planning a route of a moving robot and an apparatus thereof are provided to perform efficient cleaning according to each sub-region by dividing a coarse map into a plurality of the sub-regions. An apparatus for planning a route of a moving robot(100) includes a coarse map generation part(140) and a virtual edge extraction part(150). The coarse map generation part includes a plurality of cells, and generates a coarse map including information of obstacles and route information. The virtual edge extraction part extracts a virtual boundary dividing the coarse map into a plurality of sub-regions. The moving robot cleans a plurality of sub-regions successively.