To more easily generate a travel route corresponding to a surrounding environment.SOLUTION: A global route specifying unit specifies a global route included in a local area, from global routes generated so as to avoid an obstacle between a departure point and a destination point. A local cost map generation unit 14 generates a local cost map in which a local cost is set such that the local cost has a maximum value at a location where an obstacle is present in the local area and gradually decreases as a distance from the obstacle increases; A local cost recalculation unit 15 updates a local cost such that a minimum value of the local cost is located at a position shifted from the specified global route by a predetermined distance. A local route generation unit 16 generates a local route in which a place where the updated local cost is a minimum value is set as a travel route. And a route following control unit 17 drives and controls traveling of the autonomous travel robot along the local route.SELECTED DRAWING: Figure 1

    【課題】周囲環境に応じた走行経路をより容易に生成する。【解決手段】大域経路切り取り部は、出発地点から目的地点までの間で障害物を避けるように生成された大域経路から、局所領域内に含まれる大域経路を切り取る。局所コストマップ生成部14は、局所領域において障害物が存在する場所で最大値となり、障害物から離れるにつれて漸次小さな値となる局所コストが設定された局所コストマップを生成する。局所コスト再計算部15は、切り取った大域経路から所定の距離だけずらした場所に局所コストの最小値が位置するように局所コストを更新する。局所経路生成部16は、更新された局所コストが最小値となる場所を走行経路とする局所経路を生成し、経路追従制御部17により、局所経路に沿って自律走行ロボットの走行を駆動制御する。【選択図】図1


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    Title :

    AUTONOMOUS TRAVEL ROBOT AND TRAVEL ROUTE GENERATION METHOD


    Additional title:

    自律走行ロボットおよび走行経路生成方法


    Contributors:

    Publication date :

    2024-10-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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