WO2025079913A1 - Method for generating path of robot, and mobile robot using same - Google Patents

Abstract

The present invention relates to a method for generating a path of a robot and a mobile robot using same. The method comprises the steps of: acquiring a guide line image including a guide line indicating a path along which a robot can move; acquiring a guide line having an adjusted corner curvature by smoothing the guide line in the guide line image; and generating a robot traveling path on the basis of the curvature-adjusted guide line.

Description

Method for generating a path for a robot, and a mobile robot using the same

The present invention relates to a method for generating a driving path of a mobile robot moving in a specific space, such as a serving robot.

Mobile robots are robots that can move under their own control, and are utilized in various forms and functions, such as robot vacuum cleaners, AGVs (Automated Guided Vehicles), AMRs (Autonomous Mobile Robots), airport guide robots, and restaurant serving robots.

Recently, the provision of services using robots has become widespread, and development is actively underway on serving robots that drive along a set path within a store in place of people or recognize obstacles along the path and carry cooked food to the customer's table.

The serving robot determines its current location while moving and recognizes surrounding terrain features along its driving path to drive autonomously. For this purpose, simultaneous localization and mapping (SLAM) technology is used.

Typically, serving robots use sensing devices such as Light Detection And Ranging (LiDAR) to identify surrounding terrain features and perform map generation and location estimation based on the identified results.

In order to perform SLAM of the serving robot as described above, a great deal of computation and data processing is required, and for this purpose, the serving robot must be equipped with a high-performance processor and communication module, which increases the manufacturing cost.

The technical problem to be solved by the present invention is to provide a path generation method for a robot that can efficiently generate a driving path that is easy for the robot to follow, and a mobile robot using the same.

According to an embodiment of the present invention for solving the above-described problem, a method for generating a path of a robot comprises the steps of: obtaining a guide line image including a guide line indicating a path on which the robot can move; performing smoothing on the guide line in the guide line image to obtain a guide line with adjusted corner curvature; and generating a driving path of the robot based on the guide line with adjusted curvature.

The above smoothing process forms a circle of a first color centered on each of a plurality of points forming the guide line, and then forms a circle of a second color centered on each of a plurality of points having a second color different from the first color in the guide line image.

At least some of the above robot path generation methods can be implemented as a computer-readable recording medium recording a program for execution on a computer, and can be provided as the program itself.

Meanwhile, the above path generation method can be performed by a mobile robot according to an embodiment of the present invention.

A mobile robot according to an embodiment of the present invention comprises: an image acquisition unit for acquiring a guide line image including a guide line indicating a path along which the robot can move; an image processing unit for acquiring a guide line with adjusted corner curvature by performing smoothing on the guide line in the guide line image; and a path generation unit for generating a driving path of the robot based on the guide line with adjusted curvature.

According to an embodiment of the present invention, by smoothing the guide line of the robot itself using circles of different colors and generating the driving path of the robot based on the guide line with the corner curvature adjusted through the smoothing process, the problem of having to perform smoothing process on the path every time the path of the robot is generated can be improved, and through this, a smooth driving path that is easy for the robot to follow can be obtained with a simple path search algorithm without additional calculations.

According to another embodiment of the present invention, the corner curvature of a guide line can be easily adjusted by adjusting the size of a circle used for smoothing processing, and the smoothing processing for the guide line as described above can be performed only once at the time of map creation or map loading, thereby reducing the amount of calculation and time required for path creation.

FIG. 1 is a block diagram showing the overall configuration of a mobile robot system according to an embodiment of the present invention.

FIG. 2 is a block diagram showing another embodiment of the configuration of a mobile robot system according to the present invention.

FIG. 3 is a drawing for explaining the program structure of a robot operation system according to one embodiment of the present invention.

Figure 4 is a perspective view showing an example of a mobile robot.

Figure 5 is a block diagram showing the configuration of a mobile robot according to one embodiment of the present invention.

Figure 6 is a flowchart showing a path generation method of a robot according to one embodiment of the present invention.

Figure 7 is a drawing to explain an example of a method for generating a driving path of a robot based on guidelines.

Figures 8 to 11 are drawings for explaining embodiments of a method for smoothing a guide line.

FIGS. 12 to 15 are drawings for explaining embodiments of a method for generating a driving path of a robot based on a guide line with adjusted corner curvature.

The following merely illustrates the principles of the present invention. Therefore, those skilled in the art can invent various devices that implement the principles of the present invention and are included in the concept and scope of the present invention, even though they are not explicitly described or illustrated in this specification. In addition, it should be understood that all conditional terms and embodiments listed in this specification are, in principle, expressly intended only for the purpose of making the concept of the present invention understood, and are not limited to the embodiments and conditions specifically listed in this way.

It should also be understood that all detailed descriptions of the principles, aspects, and embodiments of the present invention, as well as specific embodiments, are intended to include structural and functional equivalents of such matters. It should also be understood that such equivalents include not only currently known equivalents but also equivalents developed in the future, that is, all devices invented to perform the same function, regardless of structure.

Thus, for example, the block diagrams in this specification should be understood as representing conceptual views of exemplary circuits embodying the principles of the present invention. Similarly, all flow diagrams, state transition diagrams, pseudocode, and the like, which may be substantially represented on a computer-readable medium, should be understood as representing various processes performed by a computer or processor, whether or not a computer or processor is explicitly depicted.

The functions of various components depicted in the drawings, including functional blocks represented by processors or similar concepts, may be provided by the use of dedicated hardware as well as hardware capable of executing software in conjunction with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which may be shared.

Also, any explicit use of terms such as processor, control or similar concepts should not be construed to exclusively refer to hardware capable of executing software, but should be understood to implicitly include, without limitation, digital signal processor (DSP) hardware, read-only memory (ROM), random access memory (RAM) and non-volatile memory for storing software. Other commonly used hardware may also be included.

In the claims of this specification, a component expressed as a means for performing a function described in the detailed description is intended to include any method for performing the function, including, for example, a combination of circuit elements performing said function, or any form of software including firmware/microcode, combined with appropriate circuitry to execute said software to perform said function. The invention defined by these claims should be understood to be equivalent to any means contemplated from this specification, since the functions provided by the various enumerated means are combined and combined in the manner required by the claims.

The above-described objects, features and advantages will become more apparent through the following detailed description with reference to the attached drawings, so that those with ordinary skill in the art to which the present invention pertains can easily practice the technical idea of the present invention. In addition, when explaining the present invention, if it is judged that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

FIG. 1 is a block diagram illustrating the overall configuration of a mobile robot system according to an embodiment of the present invention. The mobile robot system (100) may be configured to include a control server (110) and a robot (120).

A robot (120) may mean a machine that automatically processes or operates a given task by its own abilities, and may be an intelligent robot that has the function of recognizing the environment, making judgments on its own, and performing actions.

Meanwhile, the robot (120) is equipped with a driving unit including an actuator or motor and can perform various physical movements, and specifically, as a movable mobile robot, the driving unit includes wheels, brakes, etc. and can drive in a specific space.

In one embodiment of the present invention, the robot (120) may be a serving robot that is placed in a restaurant or the like and autonomously drives to a customer's table carrying food or the like, but the present invention is not limited thereto.

The robot (120) is capable of autonomous driving and can wirelessly communicate with a control server (110) or a call unit (not shown) mounted on a table to transmit and receive various information and perform actions accordingly.

For this purpose, the robot (120) may be equipped with various communication modules such as a mobile communication module, a wireless Internet module, and a short-distance communication module.

For example, a mobile communication module can transmit and receive wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network constructed according to technical standards or communication methods for mobile communication (GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EVDO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), 5G mobile communication, etc.).

The wireless Internet module is a module for wireless Internet access and can be configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

And the robot (120) can transmit and receive data with a server and various communication-capable terminals through a 5G network, and for example, can communicate data with a server or terminal using at least one service among mobile broadband (Enhanced Mobile Broadband, eMBB), URLLC (Ultra-reliable and low latency communications), and mMTC (Massive Machine-type communications) through a 5G network.

Meanwhile, artificial intelligence (AI) technology can be applied to the robot (120), and the movement path of the robot (120) can be determined through machine learning using an artificial neural network (ANN).

The robot (120) has a map required for autonomous driving and can use the map to configure a driving route from the current location to the target location.

To this end, the robot (120) detects its current location while driving, identifies surrounding terrain features, and such location information can be transmitted to the control server (110).

For example, a robot (120) can use simultaneous localization and mapping (SLAM) technology for autonomous driving, and since SLAM is a known technology, a detailed description thereof will be omitted.

In order to proceed with SLAM as described above, the robot (120) is equipped with a sensing means such as a Light Detection And Ranging (LiDAR) device, and can identify surrounding terrain features using the equipped sensing head and estimate the location and create a map based on the identified results.

As illustrated in FIG. 1, a robot operation system (100) according to one embodiment of the present invention may include a plurality of robots (120 to 150) moving together within a specific space.

In this case, the control server (110) can receive location information, etc. from multiple robots (120 to 150) and generate a movement path for each robot.

According to one embodiment of the present invention, by implementing a program executed by a processor of a robot operating system to enable a control module and a user interface module to perform bidirectional communication using shared memory that can be accessed simultaneously by multiple processes, there is no need to use a separate communication method affected by a network environment within the robot, and program resources of an operating system for a mobile robot can be reduced by utilizing a function for sharing data within a fixed memory.

FIG. 2 is a block diagram illustrating another embodiment of a configuration of a mobile robot system according to the present invention. Among the configurations illustrated, descriptions of those identical to those described with reference to FIG. 1 will be omitted.

Referring to FIG. 2, the operating system of the robot (120) may include a memory and at least one processor connected to the memory and configured to execute at least one computer-readable program contained in the memory.

Meanwhile, the program included in the robot (120) may include a control module (SLAM/NAV, 121) and a user interface module (UI, 123).

The control module (SLAM/NAV, 121) can control sensors and motors equipped in the robot (120) and perform path search and position estimation algorithms.

Meanwhile, the user interface module (UI, 123) can provide an interactive user interface (UI) to enable a user to manipulate the movements of the robot (120) and to show various states of the robot (120).

A robot operation system according to one embodiment of the present invention can be implemented so that a control module (SLAM/NAV, 121) and a user interface module (UI, 123) can communicate bidirectionally using shared memory that can be accessed simultaneously by multiple processes.

Additionally, log data (Log), map data (map.png, annotation.ini), and configuration data (config.ini) may be stored in the memory of the robot (120).

The robot operating system as described above may be implemented with software and/or hardware resources necessary to implement the technical idea of the present invention, and does not necessarily mean one physical component or one device.

That is, the robot operating system may mean a logical combination of software and/or hardware provided to implement the technical idea of the present invention, and, if necessary, may be implemented as a set of logical configurations for implementing the technical idea of the present invention by being installed in devices spaced apart from each other and performing each function.

In addition, the term "module" in this specification may mean a functional and structural combination of hardware for performing the technical idea of the present invention and software for operating the hardware. For example, a module may mean a logical unit of a given code and hardware resources for performing the code, and does not necessarily mean physically connected code or a type of hardware.

According to another embodiment of the present invention, by allowing the operating system of the robot (120) and the control server (110) to communicate using LCM (Lightweight Communication and Marshalling) communication, the communication delay time between the robot (120) and the control server (110) is reduced, thereby reducing the possibility of collision between multiple robots.

Specifically, the operating system of the robot (120) can be implemented so that the control module (SLAM/NAV, 121) and the control server (110) transmit and receive robot location and path information using LCM communication.

For example, a control server (110) is installed in the store separately from the robots to control them, and the control server (110) can reduce the communication delay time with the robots (120) by using LCM communication and generate a route by considering the location of each robot.

LCM is a very lightweight communication method that minimizes data marshaling as a message and data transmission library, reduces communication delay time, and does not take up much program resources. Through fast data transmission and reception in short-distance communication of the same bandwidth, the control server (110) can quickly check the location of each of a plurality of robots (120 to 150) and prevent collisions between the robots.

According to another embodiment of the present invention, by using REST (Representational State Transfer) API to share data between the operating system of the robot (120) and the remote server (200), the status of the robot (120) can be easily checked on the web.

Here, REST API is an application program interface that consists of resources, verbs, and representations, and is used to exchange status information about resources by distinguishing them by name.

Specifically, the operating system of the robot (120) can be implemented to share map and setting information between the user interface module (UI, 123) and the remote server (200) using REST API.

For example, by building a remote server (200), the robot (120) can receive program version and configuration-related changes through a REST API, and upload maps and configuration files, etc. to the remote server (200) to check the status of the robot (120) on the web.

FIG. 3 is a diagram illustrating a program structure of a robot operating system according to an embodiment of the present invention. Among the illustrated configurations, descriptions of those identical to those described with reference to FIGS. 1 and 2 will be omitted.

Referring to FIG. 3, the control module (SLAM/NAV, 121) and the user interface module (UI, 123) can be driven by a single PC (Personal Computer) included in the robot (120), and accordingly, maps and configuration files, etc. are read and written as files in the same path, and communication between the control module (SLAM/NAV, 121) and the user interface module (UI, 123) can exchange various commands and status values, etc. using shared memory (Shared Memory, 125).

As illustrated in FIG. 3, the shared memory (125) between the control module (SLAM/NAV, 121) and the user interface module (UI, 123) may be configured to include a plurality of shared memories that communicate different commands or status values.

Meanwhile, for each of the multiple shared memories, a tick count can be allocated so that the tick count changes whenever data is updated.

In this case, when either the control module (SLAM/NAV, 121) or the user interface module (UI, 123) writes data to one shared memory, the tick count of the corresponding shared memory changes, and accordingly, the other of the control module (SLAM/NAV, 121) or the user interface module (UI, 123) can read the data written to the corresponding shared memory.

For example, when a user interface module (UI, 123) writes a UI command (US command) to shared memory corresponding to the command, the tick count of the shared memory changes, and according to the change in the tick count, the control module (SLAM/NAV, 121) can read the UI command (US command) written to the shared memory.

Shared memory, while simultaneously accessible by multiple processes, does not support bidirectional communication. However, by configuring multiple shared memories as described above and adding a tick count to each shared memory, it is possible to implement bidirectional communication between a control module (SLAM/NAV, 121) and a user interface module (UI, 123) by using the function of sharing data in a fixed memory without using a communication method that is unnecessarily affected by the network environment when operating within a single PC.

A robot operating system having a program structure as described above may be included in a mobile robot according to an embodiment of the present invention, and a mobile robot according to an embodiment of the present invention may be a serving robot (400) as illustrated in FIG. 4, but the present invention is not limited thereto.

Referring to FIG. 4, the serving robot (400) may be configured to include a driving unit (410), a main body (420), a tray (430, 431), a display unit (440), and a support unit (450), but some components may be omitted or added as needed.

FIG. 5 is a block diagram illustrating the configuration of a mobile robot according to an embodiment of the present invention. The mobile robot (500) may be configured to include an image acquisition unit (510), an image processing unit (530), and a path generation unit (540). Descriptions of the configuration and operations of the illustrated mobile robot (500) that are identical to those described with reference to FIGS. 1 to 4 will be omitted below.

Referring to FIG. 5, the image processing unit (520) obtains a guide line image including a guide line indicating a path along which the robot can move.

The guide line refers to a following line that the mobile robot (500) should follow, and the actual driving path of the mobile robot (500) can be determined within the guide line.

The image processing unit (520) performs smoothing on the guide lines in the guide line image to obtain guide lines with adjusted corner curvatures.

In the case of a nonholonomic robot, it is difficult to follow a path with a right-angled corner, so by smoothing the corner portion of the guide line, a gentle path with a corner curvature that the mobile robot (500) can follow as desired can be created.

For example, the image processing unit (520) may form a circle of a first color centered on each of a plurality of points forming a guide line, and then form a circle of a second color centered on each of a plurality of points having a second color different from the first color in the guide line image to smooth the guide line.

Meanwhile, when smoothing the guide line, the corner curvature of the guide line can be adjusted by adjusting the size of the circle.

The path generation unit (540) generates a driving path of the mobile robot (500) based on a guide line whose curvature has been adjusted through smoothing processing of the image processing unit (520).

Here, the image processing unit (520) only needs to perform smoothing processing on the guide lines as described above once when generating a map or loading a map, and the path generation unit (540) can generate a smooth path that the mobile robot (500) can follow without additional calculations based on the smoothed guide lines.

In the case of the existing robot path smoothing method, when the mobile robot (500) is driven, a path is generated according to a guide line, and the generated path is smoothed through spline interpolation, etc., so it is difficult to adjust the corner curvature on the path as desired, and there was a problem that an operation for smoothing processing had to be performed every time the path was generated.

According to the above-described embodiment of the present invention, by smoothing the guide line of the robot itself using circles of different colors and generating the driving path of the robot based on the guide line with the corner curvature adjusted through the smoothing process, the problem of having to perform smoothing process on the path every time the path of the robot is generated can be improved, and through this, a smooth driving path that is easy for the robot to follow can be obtained with a simple path search algorithm without additional calculations.

In addition, the corner curvature of the guide line can be easily adjusted by adjusting the size of the circle used for smoothing processing, and the smoothing processing for the guide line as above can be performed only once at the time of map creation or map loading, thereby reducing the amount of calculation and time required for path creation.

Meanwhile, the configurations described with reference to FIG. 5 may be included as a logical combination of software and/or hardware in the control module (SLAM/NAV, 121) of the robot operation system described with reference to FIGS. 2 and 3 as part of the mobile robot (500).

And the guideline image smoothed through the image processing unit (520) can be transmitted to the control server (110) and used to determine the driving path of multiple robots, and also, at least some of the configurations described with reference to FIG. 5 can be included in the control server (110) as a logical combination of software and/or hardware.

Hereinafter, with reference to FIGS. 6 to 15, embodiments of a path generation method of a robot according to the present invention will be described in more detail.

Fig. 6 is a flow chart illustrating a path generation method of a robot according to an embodiment of the present invention, and shows an example of the operation of a mobile robot (500) for path generation. Descriptions of the methods illustrated in Fig. 6 that are the same as those described with reference to Figs. 1 to 5 will be omitted below.

Referring to FIG. 6, a mobile robot (500) obtains a guideline image including guidelines indicating a path along which the robot can move (step S600).

As shown in (a) of Fig. 7, the guideline image (Image) may represent a guideline (GL) that the mobile robot (500) should follow in the space where the mobile robot (500) operates. Meanwhile, referring to (b) of Fig. 7, the driving path (Path) of the mobile robot (500) is determined based on the guideline (GL) in the guideline image as shown in (a) of Fig. 7, and in this case, path following of the mobile robot (500) may become difficult at a right-angled corner (Corner) of the driving path (Path).

Therefore, the mobile robot (500) obtains a guide line with adjusted corner curvature by smoothing the guide line in the guide line image obtained in step S600 (step S610).

According to one embodiment of the present invention, the smoothing process in step S610 may be performed by forming a circle of a first color (e.g., black) centered on each of a plurality of points forming a guide line, and then forming a circle of a second color (e.g., white) centered on each of a plurality of points having a second color (e.g., white) different from the first color (e.g., black) in the guide line image, thereby smoothly adjusting the corner curvature of the guide line.

Meanwhile, the corner curvature of the guide line can be adjusted by adjusting the size of the circle used in the smoothing process.

Additionally, smoothing processing for the guide lines (step S610) may be performed only once when the mobile robot (500) creates the map or only once when the map is loaded.

Fig. 8 (a) illustrates an example of a guide line (GL), Fig. 8 (b) illustrates an example of a guide line (GL1) formed with circles of a first color (e.g., black) on the guide line (GL) illustrated in Fig. 8 (a), and Fig. 8 (c) illustrates an example of a guide line (GL2) formed with circles of a second color (e.g., white) on the guide line (GL1) illustrated in Fig. 8 (b) to have a corner curvature adjusted.

Referring to Fig. 9, for each of the black points of the black guide line (GL), a black circle (C1) with a constant radius (R1) centered on the black point (P1) can be drawn to form the circle.

In Fig. 9, circles (C1) are drawn only for some of the points included in the guide line (GL), but if black circles are drawn for all the points of the guide line (GL) as described above, a guide line (GL1) as shown in (b) of Fig. 8 can be formed.

Referring to FIG. 10, in an image including a guide line (GL1) as shown in (b) of FIG. 8, a white circle (C2) having a constant radius (R2) and centered on the white point (P2) can be formed by drawing it on each of the white points located in the white area.

In Fig. 10, circles (C2) are drawn only for some of the points located in the white area, but if white circles are drawn as described above for all white points around the guide line (GL1), a guide line (GL2) with adjusted corner curvature as shown in (c) of Fig. 8 can be obtained.

Here, the radius (R1) of the black circle (C1) and the radius (R2) of the white circle (C2) may be the same, but may be set differently as needed, and the corner curvature of the guide line may be adjusted by adjusting at least one of the radius (R1) of the black circle (C1) and the radius (R2) of the white circle (C2).

Meanwhile, the above has described an embodiment of the present invention by taking the example of forming black circles (C1) and white circles (C2) and performing smoothing processing for the guide line (GL), but the present invention is not limited thereto, and various shapes having at least a portion of a curved shape may be used, and the color of the circle may also be changed.

The smoothing process for the above-described guide lines can also be applied to more complex guide lines (GL) as illustrated in Fig. 11.

Fig. 11 (a) illustrates an example of a guide line (GL) in the form of an intersection, and Fig. 11 (b) illustrates the result of smoothing the guide line (GL) illustrated in Fig. 11 (a).

After smoothing processing for the guide line is completed at step S610, the mobile robot (500) generates a driving path of the robot based on the guide line with adjusted curvature (step S620).

At step S620, the mobile robot (500) can generate a driving path using a simple path search algorithm without additional operations. Since the path search algorithm can apply various existing known technologies, a detailed description thereof will be omitted.

For example, as illustrated in Fig. 11, if a robot's driving path (Path) is generated based on a guide line (GL2) whose corner curvature is adjusted through smoothing processing, the path itself becomes a smooth path that the mobile robot (500) can follow as desired, so no additional calculations are required other than path search to generate a smooth path.

FIGS. 13 to 15 illustrate examples of generating a guide line (GL2) with adjusted corner curvature through smoothing processing according to one embodiment of the present invention for guide lines of more complex shapes, and generating a smooth driving path (Path) based on the guide line (GL2) with adjusted corner curvature.

In the above, the embodiments of the present invention have been described by taking as an example the method for generating a path for a robot according to the present invention being performed by a mobile robot (500), but the present invention is not limited thereto, and at least a part of the method for generating a path for a robot according to the present invention may be performed by an external device such as a control server (110).

The methods according to the present invention described above can be produced as a program to be executed on a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

The computer-readable recording medium can be distributed across network-connected computer systems so that the computer-readable code can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the above method can be easily inferred by programmers in the technical field to which the present invention belongs.

Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and various modifications may be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims. Furthermore, such modifications should not be individually understood from the technical idea or prospect of the present invention.

Claims (11)

A step of acquiring a guide line image including a guide line indicating a path along which the robot can move; A step of obtaining a guide line with adjusted corner curvature by smoothing the guide line in the above guide line image; and A method for generating a path for a robot, comprising: a step of generating a driving path for the robot based on the guide line whose curvature is adjusted; In the first paragraph, the smoothing process A method for generating a path for a robot, characterized in that, for each of a plurality of points forming the guide line, a circle of a first color is formed with the corresponding point as the center, and then, for each of a plurality of points having a second color different from the first color among the guide line images, a circle of a second color is formed with the corresponding point as the center. In the second paragraph, A path generation method for a robot, characterized in that the corner curvature of the above guide line is adjustable by adjusting the size of the above circle. In the first paragraph, A path generation method for a robot, characterized in that the first color is black and the second color is white. In the first paragraph, A method for generating a path for a robot, characterized in that smoothing processing for the above guidelines is performed only once at the time of generating a map. In the first paragraph, A method for generating a path for a robot, characterized in that smoothing processing for the above guidelines is performed only once at the time of map loading. A computer program stored on a computer-readable recording medium for executing any one of the methods of claims 1 to 6 in combination with hardware. An image acquisition unit for acquiring a guide line image including guide lines indicating a path along which the robot can move; An image processing unit that obtains a guide line with adjusted corner curvature by smoothing the guide line in the above guide line image; and A mobile robot characterized by comprising a path generation unit that generates a driving path of the robot based on the guide line with adjusted curvature. In the 8th paragraph, the image processing unit A mobile robot characterized in that, for each of a plurality of points forming the guide line, a circle of a first color is formed with the corresponding point as the center, and then, for each of a plurality of points having a second color different from the first color among the guide line images, a circle of a second color is formed with the corresponding point as the center, thereby smoothing the guide line. In Article 9, A mobile robot characterized in that the corner curvature of the above guide line is adjustable by adjusting the size of the above circle. In Article 8, A mobile robot characterized in that smoothing processing for the above guidelines is performed only once at the time of map creation or map loading.

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