Title:
OBSTACLE EVADING PATH DECIDING METHOD APPLYING STEP SEARCHING METHOD
Document Type and Number:
Japanese Patent JP3150017
Kind Code:
B2
Abstract:
PURPOSE: To attain the calculation in a simple way and a short time by means of a compact computer by sensing the geographical features within a comparatively small range, searching an evading path against an obstacle if detected, and defining the evading point as a new starting point to repetitively search the evading paths.
CONSTITUTION: An unmanned mobile investigating machine 1 senses the geographical features including obstacles existing in the front traveling direction and in the comparatively short distances as the external areas by a three- dimensional topographical sensor 4. Then the machine 1 produces a local map by an external environment recognizing means 41 and plans a traveling path in a range of the local map by a local path planning means 42. In other words, the means 42 connects the starting point of the machine 1 to its target point via a straight line to set a straight path and then sets the points on this path at each prescribed step distance toward the target point. If these set points overlap the obstacles, an evading path is searched and the searched evading point is defined as a new starting point. Thus the evading paths are repetitively searched so that a path reaching the target point is decided.
Inventors:
Kyohiko Iijima
Shinya Okamoto
Shinya Okamoto
Application Number:
JP21303893A
Publication Date:
March 26, 2001
Filing Date:
August 27, 1993
Export Citation:
Assignee:
IHI Aerospace Co., Ltd.
International Classes:
G05D1/02; G06T1/00; G05D1/00; (IPC1-7): G05D1/02
Domestic Patent References:
| JP6195414A | ||||
| JP63603A | ||||
| JP63276610A | ||||
| JP4365104A | ||||
| JP6426914A | ||||
| JP3135676A | ||||
| JP434664A |
Attorney, Agent or Firm:
Motonori Matoba