Mobile robot control device

  • US 5,942,869 A
  • Filed: 02/10/1998
  • Issued: 08/24/1999
  • Est. Priority Date: 02/13/1997
  • Status: Expired due to Term
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First Claim
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1. A control device for a mobile robot in which a direction of turn and an angle of turn are determined by directions of rotation and speeds of rotation of both left and right wheels of the robot, comprising:

  • a right side obstacle sensor mounted on the right front of a main body of the robot;

    a left side obstacle sensor mounted on the left front of the main body;

    means for generating at least two set of run parameters, each set of parameters including at least the direction of the turn, a speed of an intra-side wheel, and a speed of an opposite side wheel, in accordance with a distance to an obstacle detected by each obstacle sensor; and

    means for determining the direction of rotation and the speed of rotation for each of the left and right wheels on the basis of a run parameter selected from said at least two sets of the run parameters for preventing collision against the obstacle according to a predetermined priority rule,wherein when both the left and right side sensors detect obstacles at an interval of time which is shorter than a reference valve, their measurements of distance to the obstacles are compared with each other to determine the speeds of rotation of the left and right wheels for turning towards the obstacle to which the distance is longer and when a current turn which is to be conducted upon detecting obstacles by the left and right side sensors at the short interval of time is opposite in the direction to the previous turn, a turning angle of the current turn is set smaller than that of the previous turn.

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