METHOD FOR CONTROLLING RUNNING OF SELF-RUNNING ROBOT

摘要

PURPOSE:To make a self-running robot closer to a wall by turning only running direction of wheels by 90 deg. without changing of the direction of the self-running robot and making the robot run sideways along the wall or an obstacle when the self-running robot comes close to the wall and it can not carry out a U-turn. CONSTITUTION:When the self-running robot comes so close to the wall of a room or the obstacle that it can not execute the U-turn, it is made to run sideways along the wall or the obstacle by turning only directions of the wheels 1 and 4 by 90 deg. without changing the direction of the robot. The running distance in running sideways is changed according to the distance from the robot's own position to the wall of the room or the obstacle.