To provide a traveling device that avoids a collision with another traveling device facing the own traveling device more efficiently than the prior art.SOLUTION: A traveling device is comprised of: a housing; an obstacle detection unit that detects a position of an obstacle around the housing; a traveling route determination unit that determines a traveling route of the housing based on the position of the obstacle; and a traveling drive unit for traveling the housing based on the traveling route. The traveling route determination unit sets a distribution of weights for taking a course in a width direction of a path of the housing based on the position of the obstacle around the housing; and when the obstacle detection unit detects the obstacle on the path of the housing, the distribution of weights is set so that a weight of an avoidance course in a predetermined direction with respect to the obstacle is increased.SELECTED DRAWING: Figure 8
【課題】対向する他の走行装置に対して従来よりも効率的に衝突を回避する走行装置を提供する。【解決手段】筐体と、前記筐体の周囲の障害物の位置を検知する障害物検知部と、前記障害物の位置に基づき、前記筐体の走行経路を決定する走行経路決定部と、前記走行経路に基づき前記筐体を走行させる走行駆動部とを備え、前記走行経路決定部は、前記筐体の周囲の障害物の位置に基づき、前記筐体の進路の幅方向にコース取りのための重み付けの分布を設定し、前記障害物検知部が前記筐体の進路上に障害物を検知した場合、前記障害物に対して予め定められた方向の回避コースの重みが大きくなるように前記重み付けの分布を設定することを特徴とする走行装置。【選択図】図8
TRAVELING DEVICE, TRAVELING CONTROL METHOD FOR TRAVELING DEVICE, TRAVELING CONTROL PROGRAM FOR TRAVELING DEVICE, AND RECORDING MEDIUM
走行装置、走行装置の走行制御方法、走行装置の走行制御プログラムおよび記録媒体
2019-12-19
Patent
Electronic Resource
Japanese
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