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Locomotion-command method for mobile robots

  • US 4,875,172 A
  • Filed: 08/19/1988
  • Issued: 10/17/1989
  • Est. Priority Date: 09/28/1984
  • Status: Expired due to Fees
First Claim
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1. A control method for the travel motion of a mobile robot across an area definable by Cartesian coordinates along a traveling route using a main control module sending out coordinate related control commands as well as a locomotion module moving together with the robot and responding to the control commands and self-controlling the local direction of movement of the robot, characterized by the steps of:

  • self-controlling of robot by the locomotion module such that said robot follows a given straight line;

    sending a change of course from the main control module to the locomotion module, said change of course command comprising data indicative of a location at which a change of course is to occur and data indicative of an angle between the given straight line and a new direction of travel;

    executing the change of course command by the locomotion module when the mobile robot reaches the location at which said change of course is to occur; and

    self-controlling the mobile robot by the locomotion module such that said robot follows a straight line along said angle in said new direction of travel.

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