Abstract:
PURPOSE: A leg extracting method using a distance sensor, a human tracking cruise method of a mobile robot using the same, and a mobile robot are provided to streamline structure and reduce manufacturing costs by extracting a leg shape of a man using only a distant sensor to trace the man. CONSTITUTION: A leg extracting method using a distance sensor comprises following steps. Reference leg data is set up and extracts the leg section of a man from data points scanned by a distance sensor(S61). The multiple data points are obtained by the scanning of a distant sensor(S62,S63). The multiple leg data points about the leg shape of the man are extracted from multiple data points based on the reference leg data(S64).
Abstract:
본 발명은 이동 로봇의 최적 경로 생성 방법 및 이를 이용한 이동 로봇에 관한 것이다. 본 발명에 따른 이동 로봇의 최적 경로 생성 방법은 격자 지도를 구성하는 각각의 격자점에 할당된 격자 비용에 기초한 제1 경로 생성 방법을 통해 출발 위치로부터 목표 위치까지의 1차 경로가 생성되는 단계와, 상기 1차 경로 상의 적어도 일부 경로가 상기 격자 비용에 기초한 제2 경로 생성 방법을 통해 재생성되어 최종 경로가 생성되는 단계를 포함하는 것을 특징으로 한다. 이에 따라, 그라디언트 방법(Gradient method)과 같은 제1 경로 생성 방법에 따라 생성된 1차 경로를 제1 경로 생성 방법을 통해 수정하여 보다 매끄러운(Smooth) 형태의 경로로 재생성할 수 있다.
Abstract:
PURPOSE: A safe route creation method capable of considering appearance of a visually blocked dynamic obstacle which uses estimated risk costs and a mobile robot using the same are provided to compute a visually restricted region generated by a registered obstacle, thereby creating a safe route in which moving speed and direction of the mobile robot are considered. CONSTITUTION: A safe route creation method which considers appearance of a visually blocked dynamic obstacle is comprised of the following procedures. A restricted region is calculated with respect to an obstacle(S13). Estimated risk cost is calculated. The estimated risk cost is registered to a corresponding lattice(S16). A transport route to a target position is created(S20).
Abstract:
PURPOSE: An optimal path producing method of a mobile robot, and the mobile robot using thereof are provided to regenerate a smooth path by amending a first path produced by a gradient method. CONSTITUTION: An optimal path producing method of a mobile robot comprises the following steps: generating a first path from a start position to a target position based on the grid cost assigned to each grid point of a grid map using a gradient method(S30, S31); regenerating the first path based on a second path generation method based on the grid cost(S37); and generating a final path(S40).