Method of controlling movement of mobile robot
First Claim
Patent Images
1. A method of controlling a movement of a mobile robot, said method comprising:
- detecting at least a position and a direction of an accompanied target; and
controlling the movement of the mobile robot, based on the detected position and direction of the accompanied target, so that the mobile robot moves along a path that is directed toward the same direction as a moving direction of the accompanied target and is parallel to the moving direction.
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Abstract
A method of controlling a movement of a mobile robot for realizing safe and appropriate accompanying behavior to follow an accompanied target includes detecting at least a position of the accompanied target, and controlling the movement of the mobile robot, based on the detected position of the accompanied target, so that the mobile robot moves along a path that is parallel to a moving direction of the accompanied target.
113 Citations
18 Claims
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1. A method of controlling a movement of a mobile robot, said method comprising:
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detecting at least a position and a direction of an accompanied target; and
controlling the movement of the mobile robot, based on the detected position and direction of the accompanied target, so that the mobile robot moves along a path that is directed toward the same direction as a moving direction of the accompanied target and is parallel to the moving direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of controlling a movement of a mobile robot, said method comprising:
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detecting a position and a velocity of an accompanied target;
calculating a path along which the mobile robot moves, based on the position and velocity of the accompanied target detected in said detecting, the path being directed toward the same direction as a moving direction of the accompanied target and being parallel to the moving direction;
calculating a velocity of the mobile robot, based on the detected velocity of the accompanied target and a difference between a position of the mobile robot on the calculated path and a current position of the mobile robot; and
controlling the mobile robot so that the mobile robot moves at the calculated velocity. - View Dependent Claims (16, 17)
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18. A mobile robot that is an autonomous mobile robot, comprising:
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a mobile unit operable to move a mobile robot body;
a measurement unit operable to measure a position and a direction of an accompanied target; and
a control unit operable to control said mobile unit, based on the measured position and direction of the accompanied target, so that the mobile unit moves along a path that is directed toward a moving direction of the accompanied target and is parallel to the moving direction.
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Specification