Title:
自律移動体および自律移動体の移動制御方法
Document Type and Number:
Japanese Patent JP6645922
Kind Code:
B2
Abstract:
Provided is an autonomous moving body that controls driving wheels by allowing a trailing caster to be located on a front side with respect to a traveling direction when it is recognized that there is no step in a traveling direction and controls the driving wheels to change the orientation of a base body in which the driving wheels and the trailing caster are arranged and approach the step so that at least one of two driving wheels contacts the step before the trailing caster contacts the step when it is recognized that there is a step in the traveling direction.
Inventors:
Koji Terada
Application Number:
JP2016135106A
Publication Date:
February 14, 2020
Filing Date:
July 07, 2016
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B60B19/00; G05D1/02; B60B33/00; B62B3/00; B62D11/00
Domestic Patent References:
| JP201662441A | ||||
| JP2006190105A | ||||
| JP201281941A |
Attorney, Agent or Firm:
Ken Ieiri