| 摘要 |
The method provides a better incorporation of a defined safety interval from obstacles in the route planning of a self-propelled mobile unit. By contrast to methods that were hitherto standard, a shell with equidistant spacing from a housing of the self-propelled mobile unit is not placed around the mobile unit; rather, the safety interval is calculated via the route at a drive wheel of the self-propelled mobile unit. That is, the kinematics of the self-propelled mobile unit are first used in the calculation of the safety interval from obstacles. The advantage is that better maneuverability is achieved between obstacles located close to one another.
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