AUTONOMOUS MOBILE ROBOT AVOIDING OBSTACLE TRAP AND CONTROLLING METHOD FOR THE SAME

摘要

The robot according to the invention the sensor unit for sensing the position of the obstacles around the robot; Driving unit for moving the robot; And for this the robot along a straight line connecting the robot and the target point to move towards the target point, the robot and the obstacle is to be detected between the target point, the larger the distance to the target point from the robot along with a larger value and a controller for calculating a reaction force which has a value that is smaller as the attraction and the distance to the obstacle from the robot increases, and the control unit is arranged before and after the direction of the straight line according to the resultant force of the attraction and repulsion and by controlling the driving unit so that the robot moves in the other direction, to prevent collision with the obstacle and the robot can avoid an obstacle trap problem does not reach the target area stuck on a particular path. ;