Title:
自律走行装置
Document Type and Number:
Japanese Patent JP5959053
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide an autonomous travel device, which estimates a self-position state on the basis of an environment map measured with a distance sensor and the environment map previously recorded and on the basis of the estimated self-position state performs autonomous travel, capable of comparing and analyzing the two environment maps in a suitable direction and suitably determining a relative deviation.SOLUTION: An autonomous travel device 1 includes drive wheels 12, 13, motors 6, 7, a distance sensor 20 to measure an environment map around the device 1, and a controller 30 to output a motor control signal on the basis of a measurement signal from the distance sensor 20. The controller 30 previously records the environment map therein around the device 1 corresponding to a predetermined travel path. The controller 30 forms the environment map around the device 1 on the basis of a distance signal from the distance sensor 20, performs a comparison analysis of the formed environment map and the previously recorded environment map with the greedy algorithm, thereby estimates a self-position state, and outputs the motor control signal so as to travel along the predetermined travel path on the basis of the self-position state.
Inventors:
Kazushige Kogure
Toshiaki Shiotani
Naoya Ota
Toshiaki Shiotani
Naoya Ota
Application Number:
JP2012138531A
Publication Date:
August 02, 2016
Filing Date:
June 20, 2012
Export Citation:
Assignee:
Mitsuba Co., Ltd.
Gunma University
Gunma University
International Classes:
G05D1/02
Domestic Patent References:
| JP2008250905A | ||||
| JP2010267231A | ||||
| JP2006293976A |
Foreign References:
| US20120020533 |
Attorney, Agent or Firm:
Masatake Shiga
Suzuki Mitsuyoshi
Shingo Suzuki
Suzuki Mitsuyoshi
Shingo Suzuki