Mobile vehicle, control method of mobile vehicle, and path control system of mobile vehicle

1. A method of controlling a mobile vehicle based on a line between the mobile vehicle and a user, the method comprising:

defining a first line between the mobile vehicle and the user;

determining a position and a size of each of at least one obstacle having a predetermined relationship with the first line;

generating at least one virtual obstacle, wherein a size of the at least one virtual obstacle is enlarged by a predetermined ratio based on the position and the size of each of the at least one obstacle;

determining whether at least a partial section of the first line overlaps the at least one virtual obstacle;

based on determining that at least the partial section of the first line overlaps the at least one virtual obstacle, defining a second line by modifying at least the partial section of the first line that overlaps the at least one virtual obstacle; and

controlling the mobile vehicle according to a direction of the second line.

2. The method of claim 1 , wherein the first line is a string connecting the mobile vehicle to the user, and

wherein the defining of the first line comprises defining the first line based on at least one of a direction of the string and a length of the string.

3. The method of claim 2 , wherein the determining of the position of the at least one obstacle and the size of the at least one obstacle comprises identifying at least one object within a predetermined threshold distance from at least a portion of the string as the at least one obstacle.

4. The method of claim 1 , wherein the defining of the second line comprises:

defining the second line such that a distance between at least a portion of an outline of the at least one virtual obstacle and at least a portion of the second line is equal to or greater than a predetermined threshold distance.

5. The method of claim 1 , wherein the first line is a virtual line connecting the mobile vehicle to the user in a straight line, and

wherein the defining of the first line comprises defining the first line based on at least one of a direction of the straight line and a length of the straight line.

6. The method of claim 5 , wherein the first line is a line corresponding to a wireless communication path between the mobile vehicle and a terminal of the user.

7. The method of claim 5 , wherein the determining of the position of the at least one obstacle and the size of the at least one obstacle comprises identifying at least one object that is within a predetermined threshold distance from at least a portion of the first line as the at least one obstacle.

8. The method of claim 5 , wherein the defining of the second line further comprises:

generating a plurality of second line candidates; and

determining any one of the plurality of second line candidates as the second line according to a predetermined rule.

9. The method of claim 5 , wherein the defining of the second line comprises defining the second line such that a distance between at least a portion of an outline of the at least one virtual obstacle and at least a portion of the second line is equal to or greater than a predetermined threshold distance.

10. The method of claim 5 , wherein the controlling of the mobile vehicle comprises:

determining a moving direction of the mobile vehicle based on an angle between a predetermined reference direction with respect to the mobile vehicle and the second line at one or more positions of the mobile vehicle; and

determining a moving speed of the mobile vehicle based on at least one of a predetermined reference external force and a difference in length between the first line and the second line at the one or more positions of the mobile vehicle.

11. A mobile vehicle configured to move along a movement path based on a line between the mobile vehicle and a user, the mobile vehicle comprising:

a string connection part attached to one end of a string connecting the mobile vehicle to the user; and

a processor configured to:

define a first line between the mobile vehicle and the user,

determine a position and a size of each of at least one obstacle having a predetermined relationship with the first line,

generate at least one virtual obstacle, wherein a size of the at least one virtual obstacle is enlarged by a predetermined ratio based on the position and the size of each of the at least one obstacle;

determine whether at least a partial section of the first line overlaps the at least one virtual obstacle;

based on determining that at least the partial section of the first line overlaps the at least one virtual obstacle, define a second line by modifying at least the partial section of the first line that overlaps the at least one virtual obstacle, and

control the mobile vehicle according to a direction of the second line.

12. A system for controlling a movement path of a mobile vehicle based on a line between the mobile vehicle and a user, the system comprising:

the mobile vehicle; and

a user terminal configured to generate a virtual line between the mobile vehicle and the user,

wherein the mobile vehicle comprises a processor configured to:

define a first line with reference to a wireless communication path between the mobile vehicle and the user terminal,

determine a position and a size of each of at least one obstacle having a predetermined relationship with the first line,

generate at least one virtual obstacle, wherein a size of the at least one virtual obstacle is enlarged by a predetermined ratio based on the position and the size of each of the at least one obstacle;

determine whether at least a partial section of the first line overlaps the at least one virtual obstacle;

based on determining that at least the partial section of the first line overlaps the at least one virtual obstacle, define a second line by modifying at least the partial section of the first line that overlaps the at least one virtual obstacle, and

control the mobile vehicle according to a direction of the second line.