Patent ID: 9182762
Filing Date: 2015-11-10
Classification: G01C,G05D

Abstract:
1. An autonomous moving body that starts traveling from a travel start point located within a moving area and arrives at a travel end point located within the moving area, comprising a control unit programmed to: define a traveling path of the autonomous moving body, the traveling path extending from the travel start point to the travel end point; calculate a collision prediction point, the collision point being a point at which a moving obstacle located within the moving area crosses the traveling path of the autonomous moving body; define a time-space coordinate system in which an elapsed time from a current time is indicated on a horizontal axis and a distance from a current position of the autonomous moving body along the traveling path is indicated on a vertical axis; draw a movement track of the autonomous moving body on the time-space coordinate system; determine, when the moving obstacle passes through the collision prediction point, four time-space coordinates on the time-space coordinate system, the four time-space coordinates defining a square-shaped temporal-spatial area containing the moving obstacle; determine if the movement track overlaps the square-shaped temporal-spatial area; and adjust, if the movement track overlaps the square-shaped temporal-spatial area, a traveling speed of the autonomous moving body by either decreasing the traveling speed so that the movement track passes through time-space coordinate at which the square-shaped temporal-spatial area has completely passed the traveling path and whose value on the vertical axis is smaller than that of the four time-space coordinates, or increasing the traveling speed so that the movement track passes through another time-space coordinate at which the square-shaped temporal-spatial area starts to pass the traveling path and whose value on the vertical axis is larger than that of the four time-space coordinates.