Patent ID: 11964392
Assignee: NAVER LABS CORPORATION
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 10:
11. A computer system comprising:
At least one processor configured to execute computer-readable instructions recorded in a memory,
Wherein the at least one processor is configured to generate global path planning of a robot for an indoor space based on an indoor map,
Wherein the global path planning is generated according to a node specification principle that generates at least one node for the indoor space, wherein the at least one node includes at least one attribute associated with movement of the robot on a path in the indoor space, the at least one attribute including a position coordinate, a travel direction and a travel speed of the robot, and the movement of the robot being controlled based on the at least one attribute included in the at least one node, and
Wherein the node specification principle comprises an edge specification principle for specifying an edge that connects nodes as a travel path of the robot, the edge specification principle including a specification principle for a basic edge in which the robot travels at a basic speed, a caution edge at a junction where at least two corridors intersect in which the robot travels at a reduced speed of a preset percentage of the basic speed or less, and a speedy edge in which the robot travels at a high speed of a preset percentage of the basic speed or more,
Wherein the edge includes the at least one attribute and an edge type indicating at least one of the basic edge, the caution edge, and the speedy edge, and
Wherein the edge including the edge type of the basic edge is specified based on the edge specification principle to connect an entry node and an end node and to allow for the robot to travel in a direction from the entry node to the end node or in both directions between the entry node and the end node based on a width of a corridor where the edge is specified.