Title:
AUTONOMOUS TRAVEL PATH PLANNING METHOD
Document Type and Number:
WIPO Patent Application WO/2022/097335
Kind Code:
A1
Abstract:
The present invention prevents an autonomous travel body from departing to the outside of a peripheral boundary of a travel area in a grid-based autonomous travel path plan. This autonomous travel path planning method, which is for planning a route to be traveled autonomously by an autonomous travel device (100), comprises: a step for acquiring a travel area in which fill-in travel is carried out in a global map (GM); a step (S32) for calculating, on the basis of the size of the grid (GR) and the vehicle body size, turning movement distance, and turning radius of the autonomous travel device (100), a departure width (DW) by which the body (B) of the autonomous travel device (100) departs when the autonomous travel device (100) undergoes a change in direction; a step (S34) for creating an inner-peripheral circulation path (23) corresponding to at least a portion of the departure width (DW); and a step (S35) for creating a fill-in travel path (25) so as to fill in the interior of a second grid area (GA2).
Inventors:
DENDA YUKI (JP)
SHITAMOTO HIDEO (JP)
SHITAMOTO HIDEO (JP)
Application Number:
PCT/JP2021/029314
Publication Date:
May 12, 2022
Filing Date:
August 06, 2021
Export Citation:
Assignee:
MURATA MACHINERY LTD (JP)
International Classes:
G05D1/02
Foreign References:
| JP2018116614A | 2018-07-26 | |||
| JP2018073008A | 2018-05-10 | |||
| JP2017211758A | 2017-11-30 | |||
| JP2018099113A | 2018-06-28 |
Attorney, Agent or Firm:
SHINJYU GLOBAL IP (JP)
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