Moving route planning method and navigation method for avoiding dynamic hindrances for mobile robot device
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United States of America Patent
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May 22, 2012
Grant Date -
May 13, 2010
app pub date -
Nov 13, 2008
filing date -
Nov 13, 2008
priority date (Note) -
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Abstract
The present invention disclosed a moving route planning method for mobile robot device, which provides the moving route on a physical site for the mobile robot device. The method includes a first and a second steps; in which, the first step is to generate a relative mesh grid diagram based on a physical site, and the mesh grid map comprises a plurality of map grids containing hindrance parameter values, wherein the hindrance parameter values for each map grid are determined by the locations of hindrances within the physical site at relative locations; and, the second step is to continuously expand the map grid from the start point and the target point toward the neighbored map grids until the expanded map grids meet with each other, and to define each map grid in the expansion traces for meeting with each other as the moving route.
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