Title:
MOVING BODY AND MOVING BODY CONTROL METHOD AND CONTROL PROGRAM
Document Type and Number:
Japanese Patent JP2015141506
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a moving body that is capable of reaching a goal position of a set route even when a wheel's slip and the like during an autonomous travelling causes an error in an estimated own position with respect to an actual travelling position.SOLUTION: A moving body 1 is a moving body that, in order to cause a travelling part 2 to estimate an own position by an odometry method and autonomously travel, controls a first drive device and second drive device and controls a third drive device 4 so that a swivel angle of a follower part 3 with respect to the travelling part 2 is a set swivel angle. When the moving body 1 reaches in the vicinity of a goal position and a signal to the effect that a contacted object is contacted is not input from a first contact detection part and second contact detection part provided in the follower part 3, the moving body is configured to put the follower part 3 into a state where the follower part 3 swivels when the follower part 3 contacts with the contacted objected, and advance the travelling part 2 so that a signal to the effect that the follower part 3 contacts with the contacted object is input from the first contact detection part and second contact detection part.
Inventors:
ODA SHIRO
YABUSHITA HIDENORI
MORI TAKEMITSU
YABUSHITA HIDENORI
MORI TAKEMITSU
Application Number:
JP2014013364A
Publication Date:
August 03, 2015
Filing Date:
January 28, 2014
Export Citation:
Assignee:
TOYOTA MOTOR CORP
International Classes:
G05D1/02
Attorney, Agent or Firm:
Ken Ieiri
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