Title:
AUTONOMOUS MOBILE BODY AND CONTROL METHOD OF SAME
Document Type and Number:
WIPO Patent Application WO/2011/062095
Kind Code:
A1
Abstract:
Disclosed is an autonomous mobile body capable of flexibly avoiding an obstacle. The mobile body is provided with a movement mechanism freely capable of translational motion within a horizontal plane and rotational motion around a vertical axis, wherein distance to an obstacle is obtained for each azimuth by an obstacle sensor. A potential related to translational motion of the mobile body and a potential related to rotational motion of the mobile body for avoiding interference with the obstacle are generated on the basis of the distance to the obstacle for each azimuth. On the basis of the generated potentials, a translational motion direction and a translational motion speed of the mobile body as well as a controlled amount related to a direction of a rotational motion and an angular speed are generated, and the mobile body is driven.
Inventors:
TAKAHASHI Masaki (KEIO UNIVERSITY 14-1, Hiyoshi 3-chome, Kohoku-ku, Yokohama-sh, Kanagawa 22, 〒2238522, JP)
高橋 正樹 (〒22 神奈川県横浜市港北区日吉３丁目１４番１号 慶應義塾大学理工学部内 Kanagawa, 〒2238522, JP)
SUZUKI Takafumi (KEIO UNIVERSITY 14-1, Hiyoshi 3-chome, Kohoku-ku, Yokohama-sh, Kanagawa 22, 〒2238522, JP)
高橋 正樹 (〒22 神奈川県横浜市港北区日吉３丁目１４番１号 慶應義塾大学理工学部内 Kanagawa, 〒2238522, JP)
SUZUKI Takafumi (KEIO UNIVERSITY 14-1, Hiyoshi 3-chome, Kohoku-ku, Yokohama-sh, Kanagawa 22, 〒2238522, JP)
Application Number:
JP2010/069985
Publication Date:
May 26, 2011
Filing Date:
November 10, 2010
Export Citation:
Assignee:
MURATA MACHINERY, LTD. (3 Minami Ochiai-cho, Kisshoin Minami-ku, Kyoto-sh, Kyoto 26, 〒6018326, JP)
村田機械株式会社 (〒26 京都府京都市南区吉祥院南落合町３番地 Kyoto, 〒6018326, JP)
KEIO UNIVERSITY (15-45, Mita 2-chome Minato-k, Tokyo 45, 〒1088345, JP)
学校法人慶應義塾 (〒45 東京都港区三田２丁目１５番４５号 Tokyo, 〒1088345, JP)
TAKAHASHI Masaki (KEIO UNIVERSITY 14-1, Hiyoshi 3-chome, Kohoku-ku, Yokohama-sh, Kanagawa 22, 〒2238522, JP)
村田機械株式会社 (〒26 京都府京都市南区吉祥院南落合町３番地 Kyoto, 〒6018326, JP)
KEIO UNIVERSITY (15-45, Mita 2-chome Minato-k, Tokyo 45, 〒1088345, JP)
学校法人慶應義塾 (〒45 東京都港区三田２丁目１５番４５号 Tokyo, 〒1088345, JP)
TAKAHASHI Masaki (KEIO UNIVERSITY 14-1, Hiyoshi 3-chome, Kohoku-ku, Yokohama-sh, Kanagawa 22, 〒2238522, JP)
International Classes:
G05D1/02; B25J5/00; B25J13/00
Attorney, Agent or Firm:
SHIOIRI Akira et al. (4-1-409, Funado-cho Ashiya-sh, Hyogo 93, 〒6590093, JP)
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