Method and apparatus for automatic running control of a robot

• US 5,781,697 A
• Filed: 06/02/1995
• Issued: 07/14/1998
• Est. Priority Date: 06/02/1995
• Status: Expired due to Fees

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Jeong, Joon-Young
• Primary Examiner(s): Hafiz, Tariq R.
• Application Number:
  US08/458,807
• Time in Patent Office: 1,138 Days
• Field of Search: 395/3, 395/80-89, 318/587
• US Class Current: 706/8
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93

Abstract

The present invention relates to an automatic running control apparatus of a robot and a method thereof by which a fuzzy logic rule is performed utilizing data on a running direction, a running distance and an obstacle when a self-propelled mobile robot runs along a rectilinear distance, so that the robot can avoid the obstacle in the running direction, and at the same time, the robot can run accurately to a target point maintaining a predetermined running speed.

Claims

1. An automatic running control apparatus for a robot, the apparatus comprising:

running distance detecting means for detecting a distance the robot has traveled;

directional angle detecting means for detecting a change in a running direction of the robot;

position discriminating means for determining a present absolute position of the robot based on data detected by the directional angle detecting means;

obstacle detecting means for detecting the presence of an obstacle around the robot and for detecting a distance to the obstacle;

obstacle position operation means for determining a comparative position of the robot based on information obtained from the directional angle detecting means and obstacle detecting means;

obstacle avoidance fuzzy inference means for performing a fuzzy inference for determining the running direction of the robot by utilizing information obtained from the obstacle position operation means;

rectilinear running fuzzy inference means for performing a fuzzy inference for rectilinear running of the robot by utilizing information obtained from the position discriminating means;

constant speed running fuzzy inference means for performing a fuzzy inference for speed control of the robot by utilizing running speed data obtained from the running distance detecting means and distance data to the obstacle obtained from the obstacle detecting means; and

driving control means for controlling movement of the robot based on at least one of the fuzzy inferences performed by the obstacle avoidance fuzzy inference means, the rectilinear running fuzzy inference means, and the constant speed running fuzzy inference means.

2. An automatic running control apparatus for a robot as defined in claim 1, further comprising weight operating means for determining a weight for a position correction based on data received from the position discriminating means and the directional angle detecting means.

3. An automatic running control method for a robot, the method comprising the steps of:

determining a robot position based on a travel distance and an angular displacement of the robot;

determining obstacle positions based on a distance and a directional angle of obstacles relative to the robot;

determining whether each obstacle is located within an avoidance domain of the robot based on the robot position and the obstacle position;

determining a weighted direction correction value based on an order in which obstacles in the avoidance domain are to be avoided;

determining a running speed of the robot after the determination of the weighted direction correction value;

determining whether the running speed is fast, slow, or normal relative to a reference running speed;

determining a constant speed correction value;

driving the robot based on the weighted direction correction value and the constant speed correction value; and

stopping an automatic running of the robot when the robot is not running continuously responsive to the determination of the constant speed correction value.

4. The method of claim 3, further comprising the step of increasing left and right motor speeds when it is determined that the running speed of the robot is slow relative to the reference speed.

5. The method of claim 3, further comprising the step of decreasing left and right motor speeds when it is determined that the running speed of the robot is fast relative to the reference speed.

6. The method of claim 3, further comprising a step of determining a weighted rectilinear running correction value if the obstacle is not located within the avoidance domain;

and

wherein the step of determining whether a running speed of the robot is fast, slow, or normal is performed after determination of the weighted rectilinear running correction value, when a running direction of the robot is normal.

7. The method of claim 3, further comprising the steps of:

increasing a left motor speed and decreasing a right motor speed when the running direction of the robot is to the left of a desired direction; and

increasing the right motor speed and decreasing the left motor speed when the running direction of the robot is to the right of a desired direction.