Driving route generation method and system

1 . A method of generating driving routes of a plurality of mobile robots, the method comprising:

generating a plurality of virtual driving lines in a driving space;

generating a pattern of driving behaviors of the mobile robots based on the plurality of generated virtual driving lines;

inputting an initial position and a final position of each of the plurality of mobile robots;

generating respective driving routes from the initial position to the final position of each of the plurality of mobile robots on the plurality of generated virtual driving lines based on the generated pattern of the driving behaviors; and

controlling driving of the plurality of mobile robots along the respective generated driving routes,

wherein the generating of the driving routes occurs in a driving space containing a plurality of intersection points, and

wherein, responsive to the plurality of mobile robots initiating a driving operation on the generated driving routes, the method further comprises:

managing data about expected times for the plurality of mobile robots to pass through an intersection point on the generated driving routes;

predicting, based on the expected time data, that a collision will occur when two or more of the plurality of mobile robots simultaneously pass through a same intersection point among the plurality of intersection points within a reference time;

calculating a priority of the intersection point at which the collision is predicted to occur by assigning a higher priority for an earlier time to pass through the intersection point from the managed expected time data; and

controlling driving of the mobile robots predicted to collide based on the calculated priority by adjusting a speed of the mobile robots.

2 . The method of claim 1 , wherein the generating of the plurality of virtual driving lines comprises:

determining a shape and width of the virtual driving line according to a size and a turning radius of each of the plurality of mobile robots to prevent a collision between the plurality of mobile robots in the driving space.

3 . The method of claim 1 , wherein the pattern of the driving behaviors includes one of line driving and detour driving responsive to a presence or an absence of an obstacle located on the plurality of virtual driving lines,

wherein the line driving includes driving along one of the plurality of generated virtual driving lines, and

wherein the detour driving includes driving two or more of the plurality of generated virtual driving lines.

4 . The method of claim 3 , wherein the line driving includes driving straight, turning left, and turning right, and

wherein the detour driving includes:

driving around the obstacle along a clear virtual driving line that does not have the obstacle located thereon, the clear virtual driving line being adjacent to the obstacle among the plurality of generated virtual driving lines.

5 . The method of claim 3 , wherein the pattern of the driving behaviors further includes:

determining whether one or more driving routes of the generated driving routes include a presence of a closed area in which the obstacle is located among the plurality of generated virtual driving lines as determined closed-area driving routes.

6 . The method of claim 5 , wherein the method further comprises:

regenerating new driving routes for the one or more determined closed-area driving routes responsive to a presence of the closed area during a driving operation of the plurality of mobile robots after the generating the driving routes.

7 . The method of claim 1 , further comprising regenerating at least one of the generated driving routes to avoid the collision, wherein the regenerating comprises sequentially regenerating the driving routes of the mobile robots passing through the intersection point based on the calculated priority.

8 . A system for generating driving routes of a plurality of mobile robots, the system comprising:

one or more processors configured to execute instructions; and

a memory storing the instructions, wherein execution of the instructions configures the one or more processors to:

generate a plurality of virtual driving lines in a driving space;

generate a pattern of driving behaviors of the mobile robots based on the plurality of virtual driving lines;

input an initial position and a final position of each of the plurality of mobile robots; and

generate respective driving routes from the initial position to the final position of each of the plurality of mobile robots on the plurality of generated virtual driving lines based on the generated pattern of the driving behaviors; and

control driving of the plurality of mobile robots along the respective generated driving routes,

wherein the generating of the driving routes occurs in a driving space containing a plurality of intersection points, and

wherein execution of the instructions further configures the one or more processors, responsive to the plurality of mobile robots initiating a driving operation on the generated driving routes, to:

manage data about expected times for the plurality of mobile robots to pass through an intersection point on the generated driving routes;

predict, based on the expected time data, that a collision will occur when two or more of the plurality of mobile robots simultaneously pass through a same intersection point among the plurality of intersection points within a reference time;

calculate a priority of the intersection point at which the collision is predicted to occur by assigning a higher priority for an earlier time to pass through the intersection point from the managed expected time data; and

control driving of the mobile robots predicted to collide based on the calculated priority by adjusting a speed of the mobile robots.

9 . The system of claim 8 , wherein the generating comprises determining a shape and width of the virtual driving line according to a size and a turning radius of each of the plurality of mobile robots to prevent a collision between the plurality of mobile robots in the driving space,

wherein the pattern of the driving behaviors includes:

one of line driving and detour driving responsive to a presence or an absence of an obstacle located on the plurality of virtual driving lines; and

determining whether one or more of the driving routes include a presence of a closed area in which the obstacle is located across the plurality of generated virtual driving lines as determined closed-area driving routes,

wherein the line driving includes driving along one of the plurality of generated virtual driving lines, and

wherein the detour driving includes driving along two or more of the plurality of generated virtual driving lines.

10 . The system of claim 9 , wherein the processor is further configured to:

monitor driving of the plurality of mobile robots after the driving route is generated; and

regenerate new driving routes for the determined closed-area driving routes responsive to the presence of the closed area during the driving of the plurality of mobile robots.

11 . The system of claim 8 , wherein execution of the instructions further configures the one or more processors to regenerate at least one of the generated driving routes to avoid the collision, wherein the regenerating comprises sequentially regenerating the driving routes of the mobile robots passing through the intersection point based on the intersection point.