Patent ID: 8296064
Filing Date: 2012-10-23
Classification: G05D

Abstract:
1. A path search method of a mobile object in a grid map having a plurality of cells, each having an identical size, comprising: generating a block map having a plurality of blocks by merging a specific number of cells in the grid map to create each block; obtaining a block path by finding a path from a starting position to a destination position in the block map; and obtaining a final path of the mobile object by performing a cell-based path search on cells in the blocks on the block path, wherein generating a block map includes: setting a block size based on the number of cells in the grid map occupied by the mobile object; dividing the grid map into the blocks each having the block size; and setting, based on cell states of the cells in each of the blocks in the block map, a block state for each of the blocks as either a blocked block or an empty block.