AUTONOMOUS MOBILE BODY AND CONTROL METHOD OF SAME
First Claim
1. An autonomous mobile body configured to avoid an obstacle and move autonomously to a goal, comprising:
- a platform vehicle having a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis;
an obstacle sensor for deriving a distance to an obstacle for each directional angle;
a potential generator for generating a translational potential of the mobile body and a rotational potential of the mobile body for avoiding interference with the obstacle, based on the distance from the autonomous mobile body to the obstacle at each directional angle;
a control amount generator for generating 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, based on the generated potentials; and
a drive controller for combining the generated amounts of control and driving the movement mechanism.
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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.
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Citations
13 Claims
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1. An autonomous mobile body configured to avoid an obstacle and move autonomously to a goal, comprising:
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a platform vehicle having a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis; an obstacle sensor for deriving a distance to an obstacle for each directional angle; a potential generator for generating a translational potential of the mobile body and a rotational potential of the mobile body for avoiding interference with the obstacle, based on the distance from the autonomous mobile body to the obstacle at each directional angle; a control amount generator for generating 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, based on the generated potentials; and a drive controller for combining the generated amounts of control and driving the movement mechanism. - View Dependent Claims (2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13)
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8. A method of controlling movement of an autonomous mobile body configured to avoid an obstacle and move autonomously to a goal, the mobile body having a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis, the method causing the mobile body to perform the steps of:
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deriving a distance from the autonomous mobile body to an obstacle for each directional angle using an obstacle sensor; generating a translational potential of the mobile body and a rotational potential of the mobile body for avoiding interference with the obstacle, based on the distance from the autonomous mobile body to the obstacle at each directional angle; generating 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, based on the generated potentials; and combining the generated amounts of control and driving the movement mechanism.
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Specification