Path generating method, program, path generating device, and autonomous mobile body
AssigneeMurata Machinery, Ltd.
InventorTsukasa Sakai
Life of this patent
Estimating the term…
Abstract
A path generating method includes setting a moving direction at each of two positions, setting a first turning circle with one of the positions as a contact point and the moving direction as a turning direction, setting a second turning circle that is within a specific area, setting a Dubins path that starts from a predetermined point of the second turning circle or ends at the predetermined point, and selecting, as a movement path, a path that is within the specific area among paths each including the first turning circle and the Dubins path.
Claims24
A path generating method for generating a movement path of an autonomous mobile body that moves from a start point in a specific area to an end point in the specific area, the path generating method comprising:
- setting a moving direction at each of the start point and the end point;
- setting a first turning circle including a contact point at the start point or the end point and including a turning direction in the moving direction;
- setting a second turning circle within the specific area;
- setting a Dubins path that starts from a predetermined point of the second turning circle or ends at the predetermined point;
- selecting, as the movement path, a path that is within the specific area among paths each including the first turning circle in addition to the Dubins path;
- and
- autonomously moving the autonomous mobile body based on the movement path;
- wherein
- the specific area is a predetermined area within which the autonomous mobile body is intended to move, that is set in advance of the selection of the movement path, and within which the movement path must be held;
- the second turning circle is tangent to the first turning circle;
- and
- an initial tangent or a terminal tangent that forms the Dubins path is in reverse of the turning direction of the first turning circle.
A path generating device to generate a movement path of an autonomous mobile body that moves from a start point in a specific area to an end point in the specific area, the path generating device comprising:
- a processor configured or programmed to:
- set a moving direction at each of the start point and the end point;
- set a first turning circle including a contact point at the start point or the end point and including a turning direction in the moving direction;
- set a second turning circle within the specific area;
- set a Dubins path that starts from a predetermined point of the second turning circle or ends at the predetermined point;
- select, as the movement path, a path that is within the specific area among paths each including the first turning circle in addition to the Dubins path;
- and
- control the autonomous mobile body to autonomously move based on the movement path;
- wherein
- the specific area is a predetermined area within which the autonomous mobile body is intended to move, that is set in advance of the selection of the movement path, and within which the movement path must be held;
- the second turning circle is tangent to the first turning circle;
- and
- an initial tangent or a terminal tangent that forms the Dubins path is in reverse of the turning direction of the first turning circle.
Dependencies are inferred from the claim text.