Running control system for mobile robot provided with multiple sensor information integration system

A running control system at least including a mobile robot having a driving actuator and capable of running, and obstacle sense means provided on the robot for sensing obstacles existing in a predetermined area in which the robot is running, said system comprising:

• imaging means for photographing an image in a running direction of said mobile robot for sensing obstacles of a robot advancing direction as a part of said obstacle sense means;
• observed object pursuit means for pursuing an object to be observed in the image photographed by said imaging means;
• observed object selection means for selecting two observed objects near said mobile robot after judging front and rear relationship on the basis of a motion of said observed object in said image when there are a plurality of object to be observed in the image;
• running control amount calculation means for calculating a running amount in the manner that an advancing direction of said mobile robot is to be center between said two observed objects on the basis of the motion of said observed objects in the image;
• and
• running control means for controlling running of said mobile robot on the basis of said running control amount calculated by said running control amount calculation means.

A running control system at least including a mobile robot having a driving actuator and capable of running, and obstacle sense means provided on the robot for sensing obstacles existing in a predetermined area in which the robot is running, said control system comprising:

• a complex sensor system having a plurality of sensor sets including a plurality of kinds of non-touch sensors and touch sensors which are mounted on said mobile robot, and for outputting sensor data from said plurality of sensor sets as control data candidates;
• a system error removing circuit for outputting as control data optimum sensor data which are formed by removing system errors from said sensor data from said plurality of sensor sets of said complex sensor system after an investigation;
• a mobile robot guidance system provided for a prediction of a position of said mobile robot by receiving said control data outputted from said system error removing means and by minimizing an internal energy in said mobile robot corresponding to a control content of said control data on the basis of a reference of a path smoothness and an external force by distance data from said complex sensor system, and including various operation calculation circuits for respectively performing an extraction of the safest running region of said mobile robot, an avoidance of a collision of said mobile robot to said obstacles, follow of said mobile robot along a boundary of a stationary obstacle, and an extraction of an open space for said mobile robot to be moved;
• and
• an operation determination circuit for selecting any of operation patterns of said mobile robot on the basis of various operation commands outputted from said various operation calculation circuits forming said mobile robot guidance system, and for outputting an operation command with respect to a selected operation pattern to a moving actuator driving controller of said mobile robot.