US 11,986,964 B2
Path determination device, robot, and path determination method
Yuji Hasegawa, Saitama (JP); and Sango Matsuzaki, Saitama (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Appl. No. 17/417,585
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
PCT Filed Aug. 7, 2019, PCT No. PCT/JP2019/031194
§ 371(c)(1), (2) Date Jun. 23, 2021,
PCT Pub. No. WO2020/136977, PCT Pub. Date Jul. 2, 2020.
Claims priority of application No. 2018-245254 (JP), filed on Dec. 27, 2018.
Prior Publication US 2022/0055215 A1, Feb. 24, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/161 (2013.01); B25J 9/163 (2013.01); B25J 9/1697 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A robot comprising:
a path determination device; and
a control unit, wherein
the path determination device determines a path in a case where the robot, which is an autonomous mobile robot, moves to a destination under a condition in which a traffic participant including a pedestrian is present in a traffic environment to the destination, the path determination device comprising:
a predicted path determination unit which determines a predicted path as a predicted value of a path of the robot, by using a predetermined prediction algorithm, such that an interference between the robot and the traffic participant is avoided; and
a path determination unit which determines the path of the robot, by using a predetermined control algorithm, such that in a case where the robot is assumed to move in the predicted path from a present position, an objective function including a distance to the traffic participant closest to the robot and a velocity of the robot as independent variables becomes a maximum value, and
the control unit controls a movement mechanism of the robot such that the robot moves in the path determined by the path determination device.