Autonomous mobile body and control method of same
US8948956B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 10, 2010 |
| Grant date | Feb 3, 2015 |
| Priority date | — |
| Expiry date | Nov 10, 2030 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/01
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An autonomous mobile body is configured to flexibly avoid obstacles. The mobile body has a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis, and the distance to an obstacle is derived for each directional angle using an obstacle sensor. A translational potential of the mobile body and a rotational potential of the mobile body for avoiding interference with the obstacle are generated, based on the distance from the autonomous mobile body to the obstacle at each directional angle. An amount of control relating to a translational direction and a translational velocity of the mobile body and an amount of control relating to a rotational direction and an angular velocity of the mobile body are generated based on the generated potentials, and the movement mechanism is driven.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.