Autonomous work machine, method of controlling the same, and storage medium
AssigneeHonda Motor Co., Ltd.
InventorsHiroto Takahashi, Makoto Yamamura, Takamasa Udagawa
Life of this patent
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Abstract
An autonomous work machine that works on a target object in a work area while performing an autonomous travel operation in the work area, comprises an obtainment unit configured to obtain a distribution the target object of the work, a determination unit configured to determine a turn direction of the autonomous work machine in accordance with the distribution of the target object, and a control unit configured to control the autonomous work machine so that the autonomous work machine will turn in the turn direction at a turn timing during the autonomous travel operation.
Claims13
An autonomous work machine that works on a target object in a work area while performing an autonomous travel operation in the work area, comprising:
- at least one processor circuit with a memory comprising instructions, that when executed by the processor circuit, causes the at least one processor circuit to at least:
- obtain a distribution of the target object of the work;
- determine a turn direction of the autonomous work machine in accordance with the distribution of the target object;
- and
- control the autonomous work machine so that the autonomous work machine will turn in the turn direction at a turn timing during the autonomous travel operation,
- wherein in a case in which a turn in the turn direction will be a sharp turn based on a sharper angle than a predetermined angle, the autonomous work machine is controlled to change the turn direction or the turn timing to prevent the sharp turn.
A method of controlling an autonomous work machine that works on a target object in a work area while performing an autonomous travel operation in the work area, the method comprising:
- obtaining a distribution of the target object of the work;
- determining a turn direction of the autonomous work machine in accordance with the distribution of the target object;
- and
- controlling the autonomous work machine so that the autonomous work machine will turn in the turn direction at a turn timing during the autonomous travel operation,
- wherein in a case in which a turn in the turn direction will be a sharp turn based on a sharper angle than a predetermined angle, the controlling will control the autonomous work machine to change the turn direction or the turn timing to prevent the sharp turn.
Dependencies are inferred from the claim text.