Moving apparatus for efficiently moving on floor with obstacle
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United States of America Patent
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Jun 3, 2003
Grant Date -
N/A
app pub date -
Jan 27, 1997
filing date -
Jan 29, 1996
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A moving robot first moves straight in a first forward path. When encountering an obstacle such as shelf, the robot makes a U-turn to move straight in a backward path located with a prescribed distance away from the first forward path. When encountering another obstacle, the robot again makes a U-turn to move straight in a second forward path extending in the same direction as that of the first forward path but located with a distance away from the backward path. When the robot exceeding the point of the U-turn in the first forward path is detected during running in the second forward path, presence of a region where the robot has not run yet is recognized, and running in that region is carried out thereafter.
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