Murata Machinery, Ltd.

Takafumi Suzuki

Yuji Suzuki

Toshiki Moriguchi

An autonomous mobile body is configured to flexibly avoid obstacles. The mobile body has a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis, and the distance to an obstacle is derived for each directional angle using an obstacle sensor. A translational potential of the mobile body and a rotational potential of the mobile body for avoiding interference with the obstacle are generated, based on the distance from the autonomous mobile body to the obstacle at each directional angle. An amount of control relating to a translational direction and a translational velocity of the mobile body and an amount of control relating to a rotational direction and an angular velocity of the mobile body are generated based on the generated potentials, and the movement mechanism is driven.

Autonomous mobile body and control method of same

An autonomous mobile body is configured to smoothly avoid obstacles. The mobile body has a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis, and the distance to an obstacle is derived for each directional angle using an obstacle sensor. Using a model having two arcs, one at each end in a major axis direction, connected by line segments that lie in the major axis direction and containing the autonomous mobile body, the movement mechanism is driven with a combination of translation and rotation, without interference between the obstacle and the model.

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Yokohama, Japan

Takafumi Suzuki