Mitsubishi Denki Kabushiki Kaisha

Yasuo Tachibana

Kohei Nomoto

Hiroshi Kameda

An obstacle avoidance apparatus including a target data generator for outputting observation values of a target, a static obstacle driver for expressing a static obstacle by a turning acceleration of the target, a characteristic amount extractor for outputting characteristic amounts for representing first control amounts of a destination direction and a static obstacle avoidance by the turning acceleration, and a control amount determiner for outputting a second control amount of the target based on the first control amounts. A three-dimensional obstacle is expressed by the turning acceleration looked at from the target and the control amount for avoiding the obstacle until the target reaches a destination is determined.

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Kamakura, Japan

Yasuo Tachibana