A method of controlling a movable body includes: a step of causing a sensor provided on the movable body to detect an obstacle; a step of determining the position and attitude of a front surface, of the obstacle, opposite to the travel direction of the movable body based on the detection result of the obstacle; a step of generating an avoidance path that avoids the obstacle while heading toward a side of a first direction intersecting the travel direction based on the position and attitude of the front surface; a step of causing the movable body to move along the avoidance path; a step of detecting the obstacle while the movable body is moving along the avoidance path; a step of determining the position and attitude of the side surface of the obstacle on the side of the first direction based on the detection result obtained during movement along the avoidance path; and a step of updating the avoidance path so as to return to a side of a second direction opposite to the first direction while avoiding the obstacle based on the position and attitude of the side surface.
METHOD OF CONTROLLING MOVABLE BODY, MOVABLE BODY AND PROGRAM
2022-09-15
Patent
Electronic Resource
English
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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