Abstract: A mobile vehicle and a method of controlling the mobile vehicle are provided. The method of controlling the mobile vehicle includes 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, defining a second line based on the first line, the position of the at least one obstacle, and the size of the at least one obstacle, and controlling the mobile vehicle according to a direction and a size of an external force on the second line.

Abstract: According to a non-limiting example embodiment, a remote control device includes a display configured to display a risk map; an input interface configured to input a travel route for an object to move along; a computing device, including at least one processor, the computing device configured to: receive obstacle information detected as the object moves along an actual travel route based on the travel route, and receive route information of the actual travel route of the object; and reset the travel route inputted by the input interface to a reset travel route in real time based on a mission given to the object or a risk level in each of a safe area and a dangerous area displayed on the risk map.

Abstract: A method for generating an obstacle map is provided. The method includes: receiving an environment map; generating a binary map indicating a position of an obstacle by a value of an obstacle cost corresponding to a probability of presence of the obstacle at the position, based on obstacle information obtained from the environment map; and generating an obstacle map by applying an obstacle expansion model to the binary map, wherein the applying the obstacle expansion model comprises setting a plurality of obstacle costs of a plurality of neighboring positions of the position of the obstacle in the binary map to a plurality of values, respectively. Accordingly, a safer and stable route can be generated to avoid the obstacle.

Abstract: A mobile vehicle and a method of controlling the mobile vehicle are provided. The method of controlling the mobile vehicle includes 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, defining a second line based on the first line, the position of the at least one obstacle, and the size of the at least one obstacle, and controlling the mobile vehicle according to a direction and a size of an external force on the second line.

Abstract: According to a non-limiting example embodiment, a remote control device includes a display configured to display a risk map; an input interface configured to input a travel route for an object to move along; a computing device, including at least one processor, the computing device configured to: receive obstacle information detected as the object moves along an actual travel route based on the travel route, and receive route information of the actual travel route of the object; and reset the travel route inputted by the input interface to a reset travel route in real time based on a mission given to the object or a risk level in each of a safe area and a dangerous area displayed on the risk map.

Abstract: A method for generating an obstacle map is provided. The method includes: receiving an environment map; generating a binary map indicating a position of an obstacle by a value of an obstacle cost corresponding to a probability of presence of the obstacle at the position, based on obstacle information obtained from the environment map; and generating an obstacle map by applying an obstacle expansion model to the binary map, wherein the applying the obstacle expansion model comprises setting a plurality of obstacle costs of a plurality of neighboring positions of the position of the obstacle in the binary map to a plurality of values, respectively. Accordingly, a safer and stable route can be generated to avoid the obstacle.