| CPC B25J 9/1697 (2013.01) [B25J 5/007 (2013.01); B25J 9/1664 (2013.01); B25J 9/1676 (2013.01)] | 3 Claims |
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1. An autonomous driving mobile robot able to move by avoiding an obstacle, the autonomous driving mobile robot comprising:
a motor;
a motor drive board that controls the motor;
a battery;
a power supply board that controls the battery;
a vision device that acquires surrounding vision data; and
a PC that receives the vision data from the vision device 150, sets a route, generates operation commands, and thereby controls the motor drive board 120 and power supply board 140, wherein
the PC is configured with a state determination module and a trajectory generation module,
the state determination module performs an arrival determination step of determining whether the robot is at a location less than or equal to a first threshold distance from a destination is performed after performing a robot state determination step of determining a position and direction of the robot, and if the robot is located at the location less than or equal to the first threshold distance from the destination, the trajectory generation module performs a stationary trajectory generation step to generate a stationary trajectory where speed of the robot decreases and becomes zero as the robot approaches the destination,
when it is determined that the robot is at a location exceeding a first threshold distance from a destination in the arrival determination step, the state determination module performs a backward movement determination step that determines a need for backward movement and whether a destination trajectory is generated up to a destination toward a rear of the robot, and when it is determined that the backward movement is needed and the destination trajectory is generated, the trajectory generation module performs a backward movement trajectory generation step to generate a backward trajectory, and
when it is determined that there is no need for backward movement or in the backward movement determination step and the destination trajectory is not generated, the state determination module performs an avoidance determination step, and, if there is no trajectory along which it is able to reach the destination without colliding with an obstacle, the trajectory generation module performs an avoidance trajectory generation step to set a local destination point and generate an avoidance trajectory leading to the local destination point.
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