MOBILE ROBOT MOVING AUTONOMOUSLY UNDER ENVIRONMENT WITH OBSTRUCTION, AND CONTROL METHOD FOR MOBILE ROBOT

摘要

PROBLEM TO BE SOLVED: To autonomously move while generating the optimum route along a predetermined route while avoiding an obstacle.;SOLUTION: A control engine 11 estimates a current position of a robot, based on a travel distance and a travel direction of the robot, and based on a peripheral situation observed by a stereo-vision sensor 40, prepares an integrated map by superposing environmental information stored in advance, with information of the observed obstacle, and transfers the position of the robot and the integrated map to a route planning engine 12. The route planning engine 12 prepares a search graph, selects the optimum path for moving a virtual robot along the predetermined route, while avoiding the obstacle on the integrated map, using a search method of A-star, and transfers a point sequence of through 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.;COPYRIGHT: (C)2007,JPO&INPIT