METHOD AND SYSTEM OF CELL DECOMPOSITION IN MOBILE ROBOT

摘要

A method and a system for dividing regions for a mobile robot are provided to improve efficiency of the robot by removing noise cells and integrating regions which are unnecessarily divided. A method for dividing regions for a mobile robot, includes a step(S210) of sensing the distance between the robot and an obstacle and creating an occupancy grid map consisting of probability grid points, a step(S240) of creating a configuration space map by increasing the thicknesses of the obstacle and a wall in the occupancy grid map on the basis of the radius or size of the robot, and a step(S260) of dividing regions by sweeping a band type slice in one direction in the configuration space map.