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DISPOSITIF AUTOMOTEUR ET PROCÉDÉ DE COMMANDE DE DÉPLACEMENT ET PROGRAMME DE COMMANDE DE DÉPLACEMENT DU DISPOSITIF AUTOMOTEUR
DISPOSITIF AUTOMOTEUR ET PROCÉDÉ DE COMMANDE DE DÉPLACEMENT ET PROGRAMME DE COMMANDE DE DÉPLACEMENT DU DISPOSITIF AUTOMOTEUR
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摘要
A self-propelled device capable of autonomously traveling on the left side or right side of a virtual path, a method of controlling traveling of the self-propelled device, and a computer program of controlling traveling of the self-propelled device are provided. The method and the computer program each include: a first step of estimating the position of a self-propelled device 100; a second step of determining the intersection point N of a virtual path 2 and a straight line, the virtual path connecting a start point A and a goal point B, and the straight line passing through the position of the self-propelled device 100 and which is orthogonal to the virtual path 2; a third step of determining an offset reference point Tp between the intersection point N and the goal point B on the virtual path 2; a fourth step of determining at least each of offset points Toft1 and Toft2 at an offset on the corresponding one of the goal point B side and the start point A side of the offset reference point Tp on the virtual path 2; a fifth step of determining at least target points ToftL and ToftR reached by rotating the offset points Toft1 and Toft2 by 90° about the offset reference point Tp in one of the anticlockwise direction and the clockwise direction; and a sixth step of causing the self-propelled device to travel toward the target points ToftL and ToftR.
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