Patent ID: 11906976
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A mobile robot comprising:
right and left wheels;
a right wheel sensor configured to detect a rotation angle of the right wheel;
a left wheel sensor configured to detect a rotation angle of the left wheel;
a processor programmed to elect a movement path for the mobile robot; and
a memory, wherein
the processor is programmed to
acquire the rotation angle of the right wheel from the right wheel sensor,
acquire the rotation angle of the left wheel from the left wheel sensor,
calculate a first integrated value of the number of rotations of the right wheel based on the acquired rotation angle of the right wheel,
calculate a second integrated value of the number of rotations of the left wheel based on the acquired rotation angle of the left wheel,
set passing points of the movement path including a departure place and a destination, the passing points being set to corners where the mobile robot turns right or left,
store a plurality of the movement paths in the memory,
elect, among the plurality of the movement paths, a movement path in which the number of the passing points where the mobile robot turns right is larger than that of the other movement paths among the plurality of the movement paths, in response to the first integrated value being larger than the second integrated value, and
control the right and left wheels such that the mobile robot moves based on the elected movement path.