Mobile Robot And Method Thereof

The present invention is an invention relating to a description of the creation location awareness and guidance of the mobile robot using the three-dimensional image. The present invention using a three-dimensional image taken by the photographing unit and the imaging unit for photographing a three-dimensional image around the mobile robot extracts the depth image information (Depth Image) on the photographed 3D image to detect obstacles inertial sensors in other than the area of ​​the recognized obstacle area in the obstruction sensing unit, the obstruction sensing unit (IMU) and Eau methoxy tree position estimation and the extract to estimate the first location information of a mobile robot using a (Odometry) to correct the depth (depth) imaging a first location information of the mobile robot the estimated based on the information and calculates the second positional information of the mobile robot and create a map other than the area of ​​the obstacle recognized by the obstacle detecting unit on the basis of the second position and written in the map of the robot and a control unit for planning the travel path of the robot. The present invention can be at the same time the location-aware mapping and the route plan of the obstacle detection, the mobile robot does not need a separate map for creating a map. In addition, to recognize the obstacle without any obstacle sensor, it is determined as a barrier region can be performed quickly and accurately than SLAM not used in SLAM.