Title:
自律移動装置の経路生成方法、並びに経路生成プログラム
Document Type and Number:
Japanese Patent JP7152978
Kind Code:
B2
Abstract:
To provide a route generation method of an autonomous mobile device that can arrange minimal passing points capable of covering all aisles in a mobile environment at positions separated from obstacles by certain distance or more at low calculation cost, and a route generation program.SOLUTION: There is provided a route generation method of an autonomous mobile device for generating a route from a current position to a destination. A contour extraction unit obtains contour of an obstacle from map information including information on the obstacle. A curvature calculation unit obtains curvature of contour points that are points configuring the contour. When the contour points calculated using the curvature satisfies predetermined passing point additional conditions, a passing point setting unit sets passing points separated from the contour points by predetermined distance. A route creation unit creates a route from the current position to the destination via the passing points.SELECTED DRAWING: Figure 1
Inventors:
Yasushi Ueda
Ryosuke Nakamura
Hiromitsu Motohashi
Ryosuke Nakamura
Hiromitsu Motohashi
Application Number:
JP2019059985A
Publication Date:
October 13, 2022
Filing Date:
March 27, 2019
Export Citation:
Assignee:
Hitachi Building System Co., Ltd.
International Classes:
G05D1/02; G06T7/12
Domestic Patent References:
| JP2015068019A | ||||
| JP2014026516A |
Foreign References:
| US20070282523 |
Attorney, Agent or Firm:
Polar Patent Attorney Corporation