Mobile robot navigating method

• US 5,073,749 A
• Filed: 06/19/1990
• Issued: 12/17/1991
• Est. Priority Date: 06/22/1989
• Status: Expired due to Term

• Current Assignee: Muratec Automation Co., Ltd. (Muratec), Sogo Security Services Co., Ltd., Yutaka Kanayama
• Original Assignee: Shinko Electric Industries Company Limited (Fujitsu Limited), SOGO Securities Company Limited
• Inventors: Kanayama, Yutaka
• Primary Examiner(s): Ip, Paul
• Application Number:
  US07/540,151
• Time in Patent Office: 546 Days
• Field of Search: 318/587, 318/139, 318/586, 318/585, 318/568.10, 364/513, 364/424.01, 364/424.02, 901/1, 180/167, 180/165, 180/168, 180/169
• US Class Current: 318/587
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A mobile robot navigating method for navigating an autonomous mobile robot utilizes a path planning unit, a posture control unit, a command signal converting unit, a current posture computing unit and a running mechanism, such as an autonomous carrier vehicle, capable of quickly and accurately controlling the mobile robot for steady running to a desired posture along a specified path. The mobile robot is controlled for running by a speed command including a desired speed for feed-forward control a speed correction for feed back control, and an angular velocity command including a desired angular velocity for feed-forward control and an angular velocity correction for feedback control. The mobile robot is controlled in a feed back and feed-forward control mode using the speed command and the angular velocity command so as to run steadily along an optimum path to a desired posture without meandering.

Claims

1. A mobile robot navigating method for navigating an autonomous mobile robot comprising a path planning unit, a posture control unit, a command signal converting unit, a current posture computing unit, and a running mechanism, said method comprising:

obtaining current robot posture data based on travelling operations executed by the robot;

periodically sending said current posture data from the current posture computing unit to the posture control unit at predetermined time intervals;

obtaining speed correction feedback control data and angular velocity correction feedback control data;

periodically feeding forward from the path planning unit to the posture control unit (1) desired posture data, (2) a desired speed feed-forward command which is independent of said speed correction feedback control data, and (3) a desired angular velocity feed-forward command which is independent of said angular velocity correction feedback control data;

calculating, by means of said posture control unit, a speed command which is based on said desired speed feed-forward command and said speed correction feedback control data, and an angular velocity command which is based on said desired angular velocity feed-forward command and said angular velocity correction feedback control data; and

converting, by means of said command signal converting unit, the speed command and the angular velocity command into running commands for controlling the running mechanism to make the running mechanism operate according to the running commands.

2. A mobile robot navigating method according to claim 1, wherein the desired posture data is expressed by a triple of a local Cartesian coordinate system having its origin at a current position defined by the current posture data and having an X - axis extending in a current direction defined by the current posture data, and the speed correction feedback control data and the angular velocity correction feedback control data are calculated on the basis of the difference between the desired posture data and the current posture data expressed by the triple of the local Cartesian coordinate system.

3. A mobile robot navigating method according to claim 2, wherein an actual posture detecting unit detects an actual posture, and current posture data stored in the current posture computing unit is replaced by actual posture data provided by the actual posture detecting unit when the actual posture detected by the actual posture detecting unit deviates greatly from the current posture data stored in the current posture computing unit.

4. A mobile robot navigating method according to claim 1, wherein an actual posture detecting unit detects an actual posture, and current posture data stored in the current posture computing unit is replaced by actual posture data provided by the actual posture detecting unit when the actual posture detected by the actual posture detecting unit deviates greatly from the current posture data stored in the current posture computing unit.

5. A mobile robot navigating method according to claim 1, wherein said step of obtaining said speed correction feedback control data and said angular velocity correction feedback control data includes the step of calculating a difference between said current posture data and said desired posture data, and said method including the steps of determining actual posture data based on the actual posture of the robot, and substituting said actual posture data for said current posture data in said difference determining step whenever said actual posture data deviates from said current posture data by at least a predetermined amount.