Method and apparatus for avoiding obstacles by a robot
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United States of America Patent
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Oct 29, 1996
Grant Date -
N/A
app pub date -
Sep 14, 1994
filing date -
Dec 9, 1993
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
An apparatus and method for determination of a steering angle and velocity using distances from obstacles in a plurality of directions or changes in distances with time as input information; obtaining a function output for each of the directions using the input information as a parameter and using a function regarding steering angle, a function regarding velocity and a function regarding degree of danger; executing operations using each function output as a parameter to compute a steering angle for obstacle avoidance and also compute a steering angle for route tracing and a velocity by a predetermined method; and synthesizing the obtained steering angle for route tracing and for obstacle avoidance with a velocity as derived. The foregoing control method avoids obstacles and is comparatively simple, even in an unknown environment without constructing a complicated rule base.
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