Control manner null of the broken line following mobile robot and the broken line following

摘要

PROBLEM TO BE SOLVED: To simply process information, to enhance real time performance, and to smoothly move a robot from a current position to a destination along a long path with connected subgoals.;SOLUTION: A polygonal line comprising a straight line of connecting the subgoals is applied to the mobile robot as a moving route. A control engine 11 estimates the current position and an attitude therein, based on a travel distance and a travel direction of the mobile robot, and based on a relative distance to an observed fixed object, and transfers the current position to a route planning engine to request a route plan. The route planning engine 12 finds passing points of a virtual robot by moving the virtual robot along the polygonal line, when receiving the request, and transfers a point sequence of the passing points of the virtual robot to the control engine 11. The control engine 11 controls a travel control system 20 to move the robot along the point sequence of the passing points.;COPYRIGHT: (C)2007,JPO&INPIT