| 摘要 |
Constitution and an operation method of a mobile robot are provided to quickly form a path of the mobile robot at low cost and to enable immediate self-absolute position sensing in returning to a path after the mobile robot is deviated from the path. In a mobile robot, a driving device comprises driving wheels, casters(14a,14b), and various sensors(15,16,17). The driving wheels are mounted to a lower frame of the mobile robot, and the driving speed of the driving wheels is measured by encoders(13a,13b) attached to driving motors(12a,12b). The casters are installed to the front and rear of the driving device and the casters support the mobile robot. A bottom line sensor for sensing a line is situated to the front of the bottom of the mobile robot, and RFID(Radio Frequency Identification) or barcode readers for measuring an absolute position of the mobile robot are installed to the bottom part of the mobile robot where the central point of the driving wheel is situated, to enable the mobile robot to immediately sense the absolute position while traveling along the bottom line.
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