Mobile robot control device
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United States of America Patent
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Aug 24, 1999
Grant Date -
N/A
app pub date -
Feb 10, 1998
filing date -
Feb 13, 1997
priority date (Note) -
In Force
status (Latency Note)
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Abstract
When a difference between sums of distance measurements detected by the left and right side sensors of a robot 1 is greater than a reference value, the turn is performed to avoid an obstacle ahead. If the direction of the current turn is opposite to that of the previous turn, since the angle of turning in the current turn is decreased, the robot 1 prevents redundant turn and can thus run through between obstacles. If the (swivel) turn has been repeated a given number of times in a zigzag movement, an escape motion from the deadlock state is commenced which includes a backward running of a predetermined distance and a (swivel) turn following the backward running.
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