Hitachi, Ltd.

Takashi Tsubouchi

Kenjiro Yamamoto

Ryoko Ichinose

Saku Egawa

Jae Hoon Lee

An autonomous mobile robot device, comprises an obstacle detecting unit, which is configured to detect an obstacle, a path producing unit, which is configured to produce a path for reaching to a goal while avoiding the obstacle, which is detected by the obstacle detecting unit, upon basis of a predetermined avoidance method, and a moving unit, which is configured to move while mounting the obstacle detecting unit and the path producing unit thereon, and further comprises an avoidance method noticing unit, which is configured to notice information relating to an avoidance method of the autonomous mobile robot device itself to the obstacle, which is detected by the obstacle detecting unit, an other's avoidance method obtaining unit, which is configured to obtain information relating to the avoidance method of the obstacle from the obstacle, which is detected by the obstacle detecting unit, an avoidance method memorizing unit, which is configured to memorize one or more of the avoidance method(s) determined, to which the path producing unit should follow, and an avoidance method selecting unit, which is configured to selected the avoidance method(s) determined from the avoidance method memorizing unit, wherein the avoidance method selecting unit uses the information relating to the avoidance method of the obstacle, which is obtained by the other's avoidance method obtaining unit, as a reference, when selecting the avoidance method.

Autonomous mobile robot device and an avoidance method for that autonomous mobile robot device

A moving device () determines an obstacle virtual existence region () of a simple graphic approximating a detected obstacle () to detect the obstacle () in a real time and determine a smooth avoidance path by calculation, thereby performing collision prediction.

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Tsukuba, Japan

Takashi Tsubouchi