Autonomous moving body and movement control method of autonomous moving body
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United States of America Patent
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Jul 16, 2019
Grant Date -
Jan 11, 2018
app pub date -
Jun 14, 2017
filing date -
Jul 7, 2016
priority date (Note) -
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status (Latency Note)
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Abstract
Provided is an autonomous moving body that controls driving wheels by allowing a trailing caster to be located on a front side with respect to a traveling direction when it is recognized that there is no step in a traveling direction and controls the driving wheels to change the orientation of a base body in which the driving wheels and the trailing caster are arranged and approach the step so that at least one of two driving wheels contacts the step before the trailing caster contacts the step when it is recognized that there is a step in the traveling direction.
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