Patent ID: 8948956
Filing Date: 2015-02-03
Classification: B25J,G05D,Y10S

Abstract:
1. An autonomous mobile body configured to avoid an obstacle and move autonomously to a goal, comprising: a platform vehicle having a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis; an obstacle sensor for deriving a distance to an obstacle for each directional angle; a potential generator for generating a translational potential of the mobile body and a rotational potential of the mobile body for avoiding interference with the obstacle, based on the distance from the autonomous mobile body to the obstacle at each directional angle; a control amount generator for generating an amount of control relating to a translational direction and a translational velocity of the mobile body and an amount of control relating to a rotational direction and an angular velocity of the mobile body, based on the generated potentials; a drive controller for combining the generated amounts of control and driving the movement mechanism; and wherein the autonomous mobile body is processed as a body with anisotropy and said body includes a major axis and a minor axis.