AUTONOMOUS MOBILE BODY
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Abstract
An autonomous mobile body includes a storage unit arranged to store a size D2 of the autonomous mobile body, a laser range sensor arranged to acquire obstacle information, an obstacle identification unit arranged to identify, based on the acquired obstacle information, edge points indicating positions of both ends of a region in which an interfering obstacle exists, the both ends being both ends on a plane parallel or substantially parallel to a passage plane in a direction which is perpendicular or substantially perpendicular to a moving target direction of the autonomous mobile body, a direction setting unit arranged to set a pull-off direction based on the size D2 of the autonomous mobile body and the edge points, and a mobile controller arranged and programmed to control the autonomous mobile body to move toward the pull-off direction.
26 Citations
40 Claims
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1-20. -20. (canceled)
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21. An autonomous mobile body which autonomously moves along a planned path, the autonomous mobile body comprising:
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a storage unit arranged to store a size of the autonomous mobile body; an obstacle information acquisition unit arranged to acquire obstacle information of obstacles around the autonomous mobile body; an obstacle identification unit arranged to identify, based on the obstacle information acquired by the obstacle information acquisition unit, positions of both ends of a region in which an obstacle positioned in a moving target direction exists, the both ends being both ends on a plane parallel or substantially parallel to a passage plane in a direction which is perpendicular or substantially perpendicular to the moving target direction; a direction setting unit arranged to set a pull-off direction based on the size of the autonomous mobile body stored in the storage unit and the positions of the both ends identified by the obstacle identification unit; and a mobile controller arranged and programmed to control the autonomous mobile body to move in the pull-off direction set by the direction setting unit. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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Specification