AUTONOMOUS TRAVELING VEHICLE AND REPRODUCTION TRAVEL METHOD
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Abstract
An autonomous traveling vehicle is controlled to faithfully reproduce a planned traveling route and to autonomously travel. The autonomous traveling vehicle includes a platform portion, a traveling unit, a teaching unit, a curvature calculation unit, and a control parameter adjustment unit. The traveling unit is mounted on the platform and controls the platform to travel. In a teaching travel mode, the teaching unit acquires subgoal points. The teaching unit stores planned traveling route data as an aggregate of the subgoal points. The curvature calculation unit calculates and stores a key curvature radius. In a reproduction travel mode, the control parameter adjustment unit adjusts a control parameter to determine an direction angle feedback control amount of the traveling unit based on the key curvature radius calculated by the curvature calculation unit.
21 Citations
22 Claims
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1-12. -12. (canceled)
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13. An autonomous traveling vehicle that executes a teaching travel mode in which a planned traveling route is taught, and a reproduction travel mode in which the autonomous travelling vehicle travels autonomously while reproducing the planned traveling route, the planned traveling route being a traveling route taught by a user when traveling from a travel start position to a travel end position, the autonomous traveling vehicle comprising:
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a platform; a traveling unit mounted on the platform to control the platform to travel; a teaching unit that acquires subgoal points when the teaching travel mode is executed and stores planned traveling route data expressing the planned traveling route as an aggregate of subgoal points, the subgoal points being information of positions through which the platform passes from the travel start position to the travel end position in a travel environment; a curvature calculation unit that calculates and stores a key curvature radius of a partial planned traveling route at a key subgoal point, the key subgoal point being one of the subgoal points included in the planned traveling route data, the partial planned traveling route including the key subgoal point and a predetermined number of subgoal points before and after the key subgoal point in the planned traveling route data; and a control parameter adjustment unit that adjusts a control parameter to determine a control amount of the traveling unit based on the key curvature radius calculated by the curvature calculation unit, when the reproduction travel mode is executed. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
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22. A method of a reproduction travel in which an autonomous traveling vehicle autonomously travels while reproducing a planned traveling route, the method comprising:
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calculating a key curvature radius of a partial planned traveling route at a key subgoal point, the key subgoal point being one of subgoal points included in planned traveling route data expressing the planned traveling route, the partial planned traveling route including the key subgoal point and a predetermined number of subgoal points before and after the key subgoal point in the planned traveling route data; adjusting a control parameter based on the key curvature radius; and determining a control amount to control the autonomous traveling vehicle to perform the reproduction travel based on the control parameter.
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Specification