Method and apparatus for avoiding obstacles by a robot

Details Method and apparatus for avoiding obstacles by a robot Method and apparatus for avoiding obstacles by a robot

1994-09-14

1996-10-29

Zanelli, Michael

Boots, shoes, and leggings

364460, 364461, 180169, G06F16500

Patent

active

055702856

ABSTRACT:
An apparatus and method for determination of a steering angle and velocity using distances from obstacles in a plurality of directions or changes in distances with time as input information; obtaining a function output for each of the directions using the input information as a parameter and using a function regarding steering angle, a function regarding velocity and a function regarding degree of danger; executing operations using each function output as a parameter to compute a steering angle for obstacle avoidance and also compute a steering angle for route tracing and a velocity by a predetermined method; and synthesizing the obtained steering angle for route tracing and for obstacle avoidance with a velocity as derived. The foregoing control method avoids obstacles and is comparatively simple, even in an unknown environment without constructing a complicated rule base.

REFERENCES:
patent: 4751658 (1988-06-01), Kadonoff et al.
patent: 5170352 (1992-12-01), McTamaney et al.
patent: 5400244 (1995-03-01), Watanabe et al.

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