SENSOR FUSION BASED HYBRID REACTIVE MOTION PLANNING METHOD FOR COLLISION AVOIDANCE AND AUTONOMOUS NAVIGATION, RECORDING MEDIUM AND MOBILE ROBOT FOR PERFORMING THE METHOD

摘要

A hybrid reactive motion planning method is disclosed. The hybrid reactive motion planning method comprises: a step of collecting information including a moving robot, a target position, a location of at least dynamic obstacle, a distance between the moving robot and the target position, a radius of a schedule of the moving robot on an actual plan; a step of converting a location of the moving robot and the location of the dynamic obstacle into an imaginary plan on the actual plan; a step of estimating a collision range of the moving robot and the dynamic obstacle on the imaginary plan by using the information as a parameter; and a step of planning a route of the moving robot on the actual plan based on the collision range. Accordingly, a reactive route plan, which simplifies an autonomous moving robot sensor system and has an efficiency with respect to a dynamic external environment changing in real time, may be provided.