Title:
移動体
Document Type and Number:
Japanese Patent JP5615160
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a moving body efficiently performing a given task.SOLUTION: The moving body 1 includes: a movement obstacle detecting means 6, 7 detecting a movement obstacle; an approaching determining means 14 determining whether the movement obstacle approaches the moving body 1 within a prescribed clearance; a standard avoiding operation planning means 15 planning the standard avoiding movement C when determining that the movement obstacle approaches the moving body 1 within the predetermined clearance; a working avoiding operation planning means 16 planning a working avoiding operation E serving for both the avoiding operation of the moving body 1 for avoiding the movement obstacle and the working movement that promotes the movement obstacle to avoid on the basis of the standard avoiding operation C; and a control means 13 controlling the moving body 1 on the basis of the working avoiding operation E. The working avoiding operation planning means 16 plans, as the working avoiding operation E, the avoiding operation in which at least one of the speed of the operation change and a variation amount of the operation change in the standard avoiding operation C is increased.
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Inventors:
市川 健太郎
金道 敏樹
菅野 重樹
岩田 浩康
菅岩 泰亮
前代 アト夢
野口 博史
藤井 雄太
金道 敏樹
菅野 重樹
岩田 浩康
菅岩 泰亮
前代 アト夢
野口 博史
藤井 雄太
Application Number:
JP2010285050A
Publication Date:
October 29, 2014
Filing Date:
December 21, 2010
Export Citation:
Assignee:
トヨタ自動車株式会社
学校法人早稲田大学
学校法人早稲田大学
International Classes:
B25J13/00; B25J19/06; G05D1/02
Attorney, Agent or Firm:
Yoshiki Hasegawa
Yoshiki Kuroki
Hikaru Suzuki
Yoshiki Kuroki
Hikaru Suzuki