A traveling apparatus includes a housing, an obstacle detection unit that detects a position of an obstacle in an area surrounding the housing, a traveling route determination unit that determines a traveling route of the housing in accordance with the position of the obstacle, and a travel driving unit that causes the housing to travel in accordance with the traveling route. The traveling route determination unit sets in accordance with the position of the obstacle in the area surrounding the housing a distribution of weights for taking a course to a width direction of a path of the housing and if the obstacle detection unit detects the obstacle on the path of the housing, the traveling route determination unit sets the distribution of the weights such that a weight of an evasive course in a predetermined direction to the obstacle increases.
Traveling apparatus, travel control method of traveling apparatus, and recording medium
2021-07-27
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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