Autonomous mobile device, autonomous movement system, and autonomous movement method

摘要

An autonomous mobile device, an autonomous movement system, and an autonomous movement method, each having an obstacle avoidance capability, are provided. The autonomous mobile device includes an avoidance pattern determination unit for determining the travel pattern of the local device according to the state of motion, relative to the autonomous movement device, of a mobile obstacle other than the autonomous movement device; and a travel controller for causing the autonomous movement device to travel according to the travel pattern determined by the avoidance pattern determination unit. One of avoidance patterns is selected in accordance with a relative velocity to a mobile obstacle.

主权项

1. An autonomous mobile device comprising:
an environment recognizing unit configured to recognize a plurality of mobile obstacles, including a first mobile obstacle, an avoidance pattern determining unit configured to determine an avoidance pattern-and determine a travelling pattern for the autonomous mobile device in accordance with a motion status of the first mobile obstacle relative to the autonomous mobile device; a travelling control unit configured to cause the autonomous mobile device to travel in accordance with the travelling pattern determined by the avoidance pattern determining unit; wherein the avoidance pattern determining unit determines the travelling pattern comprises maintaining a motion direction of the autonomous mobile device when a value obtained by subtracting a velocity of the autonomous mobile device from a velocity of the mobile obstacle is equal to or greater than a first value; and the first value is determined in accordance with a congestion factor of the plurality of the mobile obstacles.