AUTONOMOUS SEARCH METHOD AND COMPUTING DEVICE FOR PERFORMING SAME METHOD

Title:

AUTONOMOUS SEARCH METHOD AND COMPUTING DEVICE FOR PERFORMING SAME METHOD

Document Type and Number:

WIPO Patent Application WO/2024/080550

Kind Code:

A1

Abstract:

The present invention relates to an autonomous search method for autonomously searching a target space having an unknown environment by a mobile robot. Specifically, the autonomous search method comprises, by using a boundary detection algorithm (fast front propagation (FFP)), an obstacle filter function (cost-map filter), and a boundary filter function (grid-map filter), maximizing a search range for a target space having an unknown environment and determining an optimal moving path to search an unknown area in the target space.

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Inventors:

KIM YOUNG JUN (KR)
HAN KYUNG MIN (KR)

Application Number:

PCT/KR2023/012892

Publication Date:

April 18, 2024

Filing Date:

August 30, 2023

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Assignee:

UNIV EWHA IND COLLABORATION (KR)

International Classes:

G05D1/20; B25J9/16; G05D1/00; G06T7/11; G06T7/136

Foreign References:

JP2004201240A	2004-07-15
KR100611328B1	2006-08-11

Other References:

MATAN KEIDAR: "Efficient frontier detection for robot exploration", THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, SAGE, vol. 33, no. 2, 1 February 2014 (2014-02-01), Sage, pages 215 - 236, XP093159399, ISSN: 0278-3649, DOI: 10.1177/0278364913494911
ALEX FUKUNAGA: "A Survey of Parallel A", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, ARXIV.ORG, ITHACA, 16 August 2017 (2017-08-16), Ithaca, XP093159400, Retrieved from the Internet DOI: 10.48550/arxiv.1708.05296
YOUNG-KWAN KWON: "A Path Generation Method for a Autonomous Mobile Robot based on a Virtual Elastic Force", JOURNAL OF THE KOREA INSTITUTE OF ELECTRONIC COMMUNICATION SCIENCES, vol. 8, no. 1, 21 January 2013 (2013-01-21), pages 149 - 157, XP093159403

Attorney, Agent or Firm:

MUHANN PATENT & LAW FIRM (KR)

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