Mobile robot operation method and mobile robot

A method for operating a moving robot, the method comprising:

• setting, by a controller of the robot, a plurality of nodes in a grid map;
• extracting, by the controller, coordinates of the plurality of nodes;
• creating, by the controller, an edge between nodes, wherein the nodes are spaced from each other by a distance smaller than or equal to a predefined value, and then creating, by the controller, a topological map having the edge;
• dividing, by the controller, the grid map into divided maps, each divided map having a predefined size;
• receiving, by a voice interface or a display of the robot, a guide destination input;
• creating, by the controller, a global route in the grid map to the received guide destination;
• creating, by the controller, a left travel guideline and a right travel guideline respectively on left and right sides around the created global route;
• creating, by the controller, a local route within a travelable range;
• re-creating the global route when a moving obstacle detection count within a preset reference time duration is equal or larger than a reference value for global route recreation;
• and
• loading, by the controller, the divided map which corresponds to the local route,
• wherein the travelable range is defined between the left travel guideline and the right travel guideline.