AUTONOMOUS MOVEMENT SYSTEM

WIPO Patent Application WO/2012/164691

A1

The present invention addresses the problem of achieving an autonomous movement system in which, in an environment where pedestrians, obstacles, or other objects are present, such as in an institution or on a city street, the system always offers both safety and rapidity whether in a narrow passage or in a wide space during autonomous travel through a reference pathway specified on a map while the system estimates its own position. In order to avoid obstacles present in a tracking movement direction for tracking the reference pathway from the current position of an autonomous moving body, a pathway determining means calculates the passage-way distance and passage-way width for a plurality of movement directions, as a passage-way region having a predetermined passage-way width and into which an obstacle will not intrude, and determines a movement direction for the autonomous moving body; a speed determining means determines a movement speed, in accordance with braking conditions for the autonomous moving body and with the position and speed of the obstacle, at which the autonomous body can stop before colliding with the obstacle.

OSHIMA AKIRA (JP)
YAMAMOTO KENJIRO (JP)
ONO YUKIHIKO (JP)
HARA YOSHITAKA (JP)

PCT/JP2011/062509

December 06, 2012

May 31, 2011

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HITACHI LTD (JP)
OSHIMA AKIRA (JP)
YAMAMOTO KENJIRO (JP)
ONO YUKIHIKO (JP)
HARA YOSHITAKA (JP)

G05D1/02

JP2011008313A	2011-01-13
JP2009110495A	2009-05-21
JP2000020127A	2000-01-21
JPH03278106A	1991-12-09

POLAIRE I. P. C. (JP)
Polaire Intellectual Property Corporation (JP)

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