METHOD OF CONTROLLING MOVABLE BODY, MOVABLE BODY AND PROGRAM

A method of controlling a movable body includes: a step of causing a sensor provided on the movable body to detect an obstacle; a step of determining the position and attitude of a front surface, of the obstacle, opposite to the travel direction of the movable body based on the detection result of t...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	KAWASHIMA, Hiroki, TAKAO, Kenji, KITAJIMA, Katsumasa
Format:	Patent
Sprache:	eng
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES CONTROLLING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES HAULING HOISTING HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDEDFOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCEDIRECTLY TO THE SURFACE OF A LOAD LIFTING LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PERFORMING OPERATIONS PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING TRANSPORTING
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Beschreibung
Zusammenfassung:	A method of controlling a movable body includes: a step of causing a sensor provided on the movable body to detect an obstacle; a step of determining the position and attitude of a front surface, of the obstacle, opposite to the travel direction of the movable body based on the detection result of the obstacle; a step of generating an avoidance path that avoids the obstacle while heading toward a side of a first direction intersecting the travel direction based on the position and attitude of the front surface; a step of causing the movable body to move along the avoidance path; a step of detecting the obstacle while the movable body is moving along the avoidance path; a step of determining the position and attitude of the side surface of the obstacle on the side of the first direction based on the detection result obtained during movement along the avoidance path; and a step of updating the avoidance path so as to return to a side of a second direction opposite to the first direction while avoiding the obstacle based on the position and attitude of the side surface.