Method for assuring a safety interval of a self-propelled mobile

Details Method for assuring a safety interval of a self-propelled mobile Method for assuring a safety interval of a self-propelled mobile

1995-04-21

1997-08-12

Zanelli, Michael

Boots, shoes, and leggings

364461, G06G 776

Patent

active

056572255

ABSTRACT:
The method provides a better incorporation of a defined safety interval from obstacles in the route planning of a self-propelled mobile unit. By contrast to methods that were hitherto standard, a shell with equidistant spacing from a housing of the self-propelled mobile unit is not placed around the mobile unit; rather, the safety interval is calculated via the route at a drive wheel of the self-propelled mobile unit. That is, the kinematics of the self-propelled mobile unit are first used in the calculation of the safety interval from obstacles. The advantage is that better maneuverability is achieved between obstacles located close to one another.

REFERENCES:
patent: 5006988 (1991-04-01), Borenstein et al.
patent: 5170352 (1992-12-01), McTamaney et al.
IEEE Transactions on Robotics Automation, vol. 7, No. 4, Aug. 1991, "Histogrammic Motion Mapping for Mobile Robot Obstacle Avoidance", J. Borenstein and Yoram Koren, pp. 535-539.

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