JP2013058043A - Device, method and program for controlling travel of mobile body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for suppressing calculation cost required for a mobile body to travel, avoiding collision with an external environment.SOLUTION: A travel controller 6 for controlling travel of an autonomous travel robot 1 includes: a distance data generation unit 60 for measuring distances between objects in an external environment existing in its way and a reference point A, and generating plural pieces of distance data; a shortest distance extraction unit 61 for extracting, as right shortest-distance data D, shortest-distance data classified to exist on the right side of its way when viewed from the reference point A among the plural pieces of distance data, and extracting, as left shortest-distance data D, shortest-distance data classified to exist on the left side of its way when viewed from the reference point A among the plural pieces of distance data; and a turning angle determination unit 62 for determining a turning angle θrequired for the autonomous travel robot 1 to avoid collision with the external environment.

Description

  The present invention relates to a traveling control device for a moving body, a traveling control method, and a traveling control program.

  As this type of technology, Patent Document 1 discloses a traveling control device for a moving body. This travel control apparatus includes a range finder that sequentially measures the distance to an obstacle existing around a moving body in all directions at predetermined angular intervals. And the traveling control apparatus produces | generates the area | region which a mobile body can pass based on the distance data obtained from the range finder, and is performing the vehicle speed and steering angle control of a mobile body. Thereby, the moving body can travel while avoiding a collision with an obstacle.

JP-A-3-29010

  However, since the travel control device of Patent Document 1 uses a large amount of distance data to generate a region through which a moving body can pass, the calculation cost is high.

  An object of the present invention is to provide a technique for suppressing a calculation cost required for a moving body to travel while avoiding a collision with an external environment.

According to a first aspect of the present invention, there is provided a travel control device that controls travel of a mobile body, and a single reference point that is fixed relative to the mobile body of the mobile body is set. A distance data generating means for measuring a distance between an external environment existing on the traveling direction side of the moving body and the reference point and generating a plurality of distance data; and among the plurality of distance data The moving object is classified on the right side in the traveling direction as viewed from the reference point, and the smallest distance data is extracted as the right shortest distance data _DminR , and the plurality of distance data is extracted from the reference point. The shortest distance extraction means for extracting the smallest distance data as the shortest distance data _DminL on the left side, and the mobile object that has collided with the external environment. Necessary to avoid Turning angle theta _RA (where the left turn as positive.) A and a turning angle determining means for determining based on the following equation (1), the travel control apparatus for a mobile body is provided.

  However, p (x) is an odd function with p (0) = 0 and monotonically increasing with respect to x, q (x, y) is x> 0, y> 0, and q (x, y)> It is a function that becomes 0 and monotonically increases for each of x and y.

According to the above configuration, the turning angle θ required for the mobile body to avoid a collision with the external environment using only the two distance data of the right shortest distance data D _minR and the left shortest distance data D _{minL. Since the RA} is determined, it is possible to suppress the calculation cost required for the mobile body to travel while avoiding a collision with the external environment.

Preferably, the distance data generation unit corrects the plurality of distance data so that the distance data becomes smaller as the distance from the front of the moving body becomes smaller. According to the above configuration, when the turning angle θ _RA required for the mobile body to avoid a collision with the external environment is determined, the external environment positioned in front of the mobile body in the traveling direction is preferential. Will be considered. Since the external environment greatly deviating from the front in the traveling direction of the moving body does not obstruct the traveling of the moving body, the moving body can travel without problems even if this configuration is adopted, and the moving Since it is less necessary to turn the body more than necessary, the traveling of the moving body is simplified.

According to a second aspect of the present invention, there is provided a travel control method for controlling travel of a mobile body, wherein a single reference point is set that is fixed relative to the mobile body of the mobile body. A distance data generation step of measuring a distance between the external environment existing on the traveling direction side of the moving body and the reference point to generate a plurality of distance data, and among the plurality of distance data The moving object is classified on the right side in the traveling direction as viewed from the reference point, and the smallest distance data is extracted as the right shortest distance data _DminR , and the plurality of distance data is extracted from the reference point. The shortest distance extraction step of extracting the smallest distance data as the left shortest distance data _DminL , and the collision of the mobile object with the external environment. To avoid The main pivot angle theta _RA (where the left turn as positive.) A; and a turning angle determining step of determining based on the following equation (1), the travel control method for a mobile body is provided.

  However, p (x) is an odd function with p (0) = 0 and monotonically increasing with respect to x, q (x, y) is x> 0, y> 0, and q (x, y)> It is a function that becomes 0 and monotonically increases for each of x and y.

According to the above method, the turning angle θ required for the mobile body to avoid a collision with the external environment by only two distance data of the right shortest distance data D _minR and the left shortest distance data D _{minL. Since the RA} is determined, it is possible to suppress the calculation cost required for the mobile body to travel while avoiding a collision with the external environment.

  A travel control program for causing a computer to execute the travel control method is provided.

According to a third aspect of the present invention, there is provided a travel control device for controlling travel of a mobile body, wherein a right reference point and a left reference point that are fixed relative to the mobile body of the mobile body are The right reference point is set so as to be on the right side when viewed in the traveling direction of the moving body as compared with the left reference point, and is located outside the traveling direction side of the moving body. The distance between the environment and the right reference point is measured to generate a plurality of right distance data, and the distance between the external environment existing on the moving direction side of the moving body and the left reference point Distance data generating means for measuring a plurality of left distance data and extracting the smallest right distance data among the plurality of right distance data as the right shortest distance data _DminR , The smallest left distance data Is extracted as a side shortest distance data D _minL, the shortest distance extracting means, the movable body is required to avoid collision with the external environment turning angle theta _RA (However, to. A left turn is positive) the There is provided a traveling control device for a moving body, comprising: a turning angle determining means that determines based on the following formula (1).

  However, p (x) is an odd function with p (0) = 0 and monotonically increasing with respect to x, q (x, y) is x> 0, y> 0, and q (x, y)> It is a function that becomes 0 and monotonically increases for each of x and y.

According to the above configuration, the turning angle θ required for the mobile body to avoid a collision with the external environment using only the two distance data of the right shortest distance data D _minR and the left shortest distance data D _{minL. Since the RA} is determined, it is possible to suppress the calculation cost required for the mobile body to travel while avoiding a collision with the external environment. Further, when generating the right shortest distance data D _minR and the left shortest distance data D _minL , the external environment is handled continuously without being classified, so the turning angle θ _RA changes in a stepped manner. Can be solved.

Preferably, the distance data generation unit corrects the plurality of right-side distance data to be smaller as the moving body is in front of the moving direction, and the plurality of left-side distance data is corrected in front of the moving body in the moving direction. It is corrected so that it becomes smaller as According to the above configuration, when the turning angle θ _RA required for the mobile body to avoid a collision with the external environment is determined, the external environment positioned in front of the mobile body in the traveling direction is preferential. Will be considered. Since the external environment greatly deviating from the front in the traveling direction of the moving body does not obstruct the traveling of the moving body, the moving body can travel without problems even if this configuration is adopted, and the moving Since it is less necessary to turn the body more than necessary, the traveling of the moving body is simplified.

According to a fourth aspect of the present invention, there is provided a travel control method for controlling travel of a moving body, wherein a right reference point and a left reference point that are fixed relative to the mobile body of the mobile body are The right reference point is set so as to be on the right side when viewed in the traveling direction of the moving body as compared with the left reference point, and is located outside the traveling direction side of the moving body. The distance between the environment and the right reference point is measured to generate a plurality of right distance data, and the distance between the external environment existing on the moving direction side of the moving body and the left reference point A distance data generation step of measuring a plurality of left-side distance data, and extracting the smallest right-side distance data among the plurality of right-side distance data as the right-side shortest distance data _DminR , The smallest left distance day Is extracted as a left shortest distance data D _minL, the shortest distance extracting step, the movable body is the needed to avoid a collision with the external environment turning angle theta _RA (where the left turn as positive.) And a turning angle determination step for determining the vehicle based on the following formula (1).

  However, p (x) is an odd function with p (0) = 0 and monotonically increasing with respect to x, q (x, y) is x> 0, y> 0, and q (x, y)> It is a function that becomes 0 and monotonically increases for each of x and y.

According to the above method, the turning angle θ required for the mobile body to avoid a collision with the external environment by only two distance data of the right shortest distance data D _minR and the left shortest distance data D _{minL. Since the RA} is determined, it is possible to suppress the calculation cost required for the mobile body to travel while avoiding a collision with the external environment. Further, when generating the right shortest distance data D _minR and the left shortest distance data D _minL , the external environment is handled continuously without being classified, so the turning angle θ _RA changes in a stepped manner. Can be solved.

  A travel control program for causing a computer to execute the travel control method is provided.

According to the present invention, the turning angle θ _RA required for the mobile body to avoid a collision with the external environment using only the two distance data of the right shortest distance data D _minR and the left shortest distance data D _minL. Therefore, the calculation cost required for the mobile body to travel while avoiding a collision with the external environment can be suppressed.

FIG. 1 is a plan view of a self-supporting traveling robot that faces many obstacles. (First embodiment) FIG. 2 is a functional block diagram of the autonomous robot. (First embodiment) FIG. 3 is a control flow of the autonomous traveling robot. (First embodiment) FIG. 4 is a plan view of an image of LRF performing omnidirectional distance measurement. (First embodiment) FIG. 5 is a graph showing distance data (before weighting correction) generated by LRF. (First embodiment) FIG. 6 is a graph for explaining the weighting correction. (First embodiment) FIG. 7 is a graph showing distance data (after weighting correction) generated by LRF. (First embodiment) FIG. 8 is a plan view showing the turning direction of the autonomous robot. (First embodiment) FIG. 9 is a plan view for explaining improvements of the first embodiment. (Second Embodiment) FIG. 10 is a plan view for explaining improvements of the first embodiment. (Second Embodiment) FIG. 11 is a plan view for explaining the right reference point and the left reference point of the autonomous robot. (Second Embodiment) FIG. 12 is a diagram for explaining a method of calculating the distance from the right reference point (or the left reference point) of the autonomous mobile robot to the obstacle. (Second Embodiment) FIG. 13 is a plan view showing the turning direction of the autonomous robot. (Second Embodiment)

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

(Configuration of the autonomous robot 1)
First, with reference to FIG.1 and FIG.2, the structure of the independent running robot 1 (moving body) is demonstrated.

  As shown in FIGS. 1 and 2, the self-supporting traveling robot 1 includes a robot body 2 (moving body body), a right wheel 3, a left wheel 4, an LRF 5 (Laser Range Finder), and a traveling control unit 6 (traveling control). Device). The right wheel 3 and the left wheel 4 are rotatably attached to both side surfaces 2 a of the robot body 2. The LRF 5 is attached to the front surface 2 b of the robot body 2. The travel control unit 6 is accommodated in the robot body 2. And the self-supporting traveling robot 1 has a form in which it goes straight by rotating the right wheel 3 and the left wheel 4 at the same rotation speed and turns by rotating at the different rotation speed.

  In FIG. 1, an obstacle a, an obstacle b, an obstacle c, an obstacle d, and an obstacle e as external environments exist on the traveling direction side of the autonomous robot 1. The traveling control unit 6 controls the traveling of the autonomous traveling robot 1 so that the autonomous traveling robot 1 travels while passing through the obstacles a to e. As shown in FIG. 2, the traveling control unit 6 includes a CPU 50 (Central Processing Unit), a RAM 51 (Random Access Memory), a ROM 52 (Read Only Memory), a motor driver 53, a right wheel motor 54 (right wheel driving means), A left wheel motor 55 (left wheel driving means) is provided. The ROM 52 stores a traveling control program in advance. This traveling control program is read into the CPU 50 after the power of the autonomous traveling robot 1 is turned on, and is executed on the CPU 50, so that the distance data generating unit 60 (distance data generating means), the shortest distance extracting unit, and the like in the hardware such as the CPU 50 The functions of the unit 61 (shortest distance extracting unit), the turning angle determining unit 62 (turning angle determining unit), and the traveling wheel control unit 63 (traveling wheel control unit) are exhibited.

  As shown in FIG. 1, a single reference point A whose position is fixed relative to the robot body 2 of the self-supporting traveling robot 1 is set in the self-supporting traveling robot 1. In the present embodiment, the reference point A corresponds to the tip of the LRF 5 in plan view.

  The LRF 5 exists on the traveling direction side of the autonomous traveling robot 1 by irradiating the distance measuring laser L (see FIG. 4), for example, at intervals of 5 degrees in plan view in all directions on the traveling direction side of the autonomous traveling robot 1. The distance between the external environment such as the obstacle a and the LRF 5 itself is measured.

  The distance data generation unit 60 uses the LRF 5 to measure the distance between the external environment such as the obstacle a existing on the traveling direction side of the autonomous robot 1 and the reference point A, and obtains a plurality of distance data. Generate. The distance data generation unit 60 corrects the generated plurality of distance data so that the distance data generation unit 60 becomes smaller as it is in front of the traveling robot 1 in the traveling direction. The distance data generation unit 60 stores the corrected plurality of distance data in the RAM 51.

The shortest distance extraction unit 61 reads a plurality of distance data from the RAM 51, and among the plurality of distance data, the shortest distance extraction unit 61 is classified on the right side in the traveling direction of the autonomous robot 1 when viewed from the reference point A. The small distance data is extracted as the right shortest distance data _DminR and is categorized on the left side of the traveling direction of the autonomous robot 1 as viewed from the reference point A. The smallest distance data is extracted as the left shortest distance data _DminL. To do. The shortest distance extraction unit 61 stores the extracted right shortest distance data D _minR and left shortest distance data D _minL in the RAM 51.

The turning angle determination unit 62 reads the right shortest distance data _DminR and the left shortest distance data _DminL from the RAM 51, and is _necessary for the autonomous _mobile robot 1 to avoid a collision with the external environment such as the obstacle a. comprising turning angle theta _RA (However, to. a left turn is positive) is determined on the basis of the following equation (1). However, in the following formula (1), p (x) is p (0) = 0 and is an odd function that is monotonically increasing with respect to x, and q (x, y) is q> 0, y> 0 and q (x, y)> 0, and a function that increases monotonously for each of x and y. The turning angle determination unit 62 stores the determined turning angle θ _RA in the RAM 51.

The traveling wheel control unit 63 reads the turning angle θ _RA from the RAM 51 and outputs a turning command to the motor driver 53 based on the turning angle θ _RA .

The motor driver 53 controls the rotation speeds of the right wheel motor 54 and the left wheel motor 55 based on the turning command received from the traveling wheel control unit 63. As a result, the autonomous mobile robot 1 turns by a desired turning angle θ _RA .

(Operation of the autonomous robot 1)
Next, the operation of the self-supporting traveling robot 1 will be described in detail with reference to FIGS.

  In FIG. 3, when the power of the autonomous traveling robot 1 is turned on (S300), the traveling control unit 6 outputs a straight traveling command to the motor driver 53 so that the autonomous traveling robot 1 is directed to a predetermined destination. Thereby, the self-supporting traveling robot 1 starts straight traveling (S310).

(Distance data generation step: S320 to S330)
Next, the distance data generation unit 60 uses the LRF 5 to measure the distance between the reference environment A and an external environment such as an obstacle a that exists on the traveling direction side of the autonomous robot 1 and a plurality of distance data. Distance data is generated (S320). That is, as shown in FIG. 4, the LRF 5 irradiates the distance measuring laser L, for example, at intervals of 5 degrees in plan view in all directions on the traveling direction side (front) of the autonomous robot 1. The distance between the external environment such as the obstacle a existing on the traveling direction side of the LRF 5 and the LRF 5 itself (that is, the reference point A) is measured. The LRF 5 outputs a plurality of distance data D _raw as measurement results and the irradiation angle θ _L of the distance measuring laser L for each distance data D _raw to the distance data generation unit 60. The distance data generation unit 60 associates the plurality of distance data D _raw and the irradiation angle θ _L corresponding to each distance data D _raw and stores them in the RAM 51 in a table format. FIG. 5 shows a relationship between the distance data D _raw stored in the RAM 51 and the irradiation angle θ _L corresponding to each distance data D _raw in a line graph format. In FIG. 5, the horizontal axis is the irradiation angle θ _L [deg.], And the left side is positive and the right side is negative with respect to the traveling direction of the autonomous robot 1. The vertical axis is the distance data D _raw .

Next, the distance data generation unit 60 reads the plurality of distance data D _raw and the irradiation angle θ _L from the RAM 51, and then advances the plurality of distance data D _raw based on the irradiation angle θ _L. Correction is made so that the smaller the front, the smaller the direction (S330). FIG. 6 shows the weighting correction function W (θ _L ) in a graph format. In FIG. 6, the horizontal axis is the irradiation angle θ _L [deg.], And the left side is positive and the right side is negative with respect to the traveling direction of the self-supporting traveling robot 1. The vertical axis represents the weighting correction function W (θ _L ). The weighting correction function W (θ _L ) is W (0) = 1 and is an even function convex downward. Accordingly, the weighting correction function W (θ _L ) is, for example, W (θ _L ) = kθ ² +1 (where k> 0), W (θ _L ) = 1 / cos θ, W (θ _L ) = 1 / cos ² Defined as θ. Therefore, by multiplying the distance data D _raw by the weighting correction function W (θ _L ), the distance data D _raw is corrected so as to become smaller as it is in front of the autonomous traveling robot 1 in the traveling direction. In other words, the distance data D _raw is corrected so as to increase as the distance from the front in the traveling direction of the autonomous robot 1 increases. FIG. 7 shows the corrected distance data D _weight , which is the corrected distance data D _raw , in the form of a line graph. In FIG. 7, the horizontal axis is the irradiation angle θ _L [deg.], And the left side is positive and the right side is negative with respect to the traveling direction of the autonomous robot 1. The vertical axis represents the corrected distance data D _weight . It should be noted that as shown in FIG. 1, the obstacle b present near the autonomous traveling robot 1 than the obstacle a is regarded as being farther from the autonomous traveling robot 1 than the obstacle a in FIG. 7. It is a point. The distance data generation unit 60 stores a plurality of corrected distance data D _weight in the RAM 51.

(Shortest distance extraction step: S340)
Then, the shortest distance extracting unit 61, in terms of reading the plurality of corrected distance data D _weight from RAM 51, among the plurality of the corrected distance data D _weight, the traveling direction of the autonomous mobile robot 1 as viewed from the reference point A It is those that are classified on the right, and extracts the smallest corrected distance data D _weight as the right minimum distance data D _minR (S340).

That is, in FIG. 7, the corrected distance data D _weight progression is classified in the direction right autonomous mobile robot 1 as viewed from the reference point A is a corrected distance data D _weight belonging to the area irradiation angle theta _L is negative is there. In the example of FIG. 7, among the plurality of the corrected distance data D _weight, be those that are classified to the right side in the traveling direction of the autonomous mobile robot 1 as viewed from the reference point A, the smallest corrected distance data D _weight is It is included in the corrected distance data D _weight related to the obstacle c. The shortest distance extraction unit 61 extracts the corrected distance data D _weight as the right shortest distance data D _{minR and stores the} extracted right shortest distance data D _minR in the RAM 51.

Likewise, the shortest distance extracting unit 61, in terms of reading the plurality of corrected distance data D _weight from RAM 51, among the plurality of the corrected distance data D _weight, the traveling direction of the autonomous mobile robot 1 as viewed from the reference point A It is those that are classified on the left, and extracts the smallest corrected distance data D _weight as left shortest distance data D _minL (S340).

That is, in FIG. 7, the corrected distance data D _weight progression is classified in the direction left free-standing mobile robot 1 as viewed from the reference point A is a corrected distance data D _weight belonging to the area irradiation angle theta _L is positive is there. In the example of FIG. 7, among the plurality of corrected distance data D _weight , the distance data is classified on the left in the traveling direction of the autonomous mobile robot 1 as viewed from the reference point A, and the smallest corrected distance data D _weight is: It is included in the corrected distance data D _weight related to the obstacle a. The shortest distance extraction unit 61 extracts the corrected distance data D _weight as the left shortest distance data D _{minL and stores the} extracted left shortest distance data D _minL in the RAM 51.

(Turning angle calculation step: S350)
Then, the turning angle determination unit 62, upon reading the right minimum distance data D _minR the left minimum distance data D _minL from RAM 51, autonomous mobile robot 1 is to avoid collision with the external environment such as obstacles a turning angle theta _RA (where the left turn as positive.) required for the determined based on the following equation (1) (S350).

Specifically, the turning angle determination unit 62 of the present embodiment calculates the turning angle θ _RA required for the autonomous traveling robot 1 to avoid a collision with an external environment such as the obstacle a from the above equation (1). Is determined based on the following formula (2). Specifically, in the above formula (1), p (x) = x and q (x, y) = xy.

What can be said in common with the above formulas (1) and (2) is that when the difference between the right shortest distance data D _minR and the left shortest distance data D _minL is large, a large turning angle θ _RA is used. _Secondly , when at least one of the right shortest distance data D _minR and the left shortest distance data D _minL is small, the turning angle θ _RA is set to be large so as to avoid an impending collision with the external environment. is there.

Needless to say, if the definition of the turning angle θ _RA is reversed, p (D _minL −D _minR ) in the above equation (1) should be p (D _minR −D _minL ). In this regard, in the above formula (1), the left turn is positive for the turning angle θ _RA , but this is just for convenience of explanation, and either the left turn or the right turn is made positive. It can be set arbitrarily. That is, there is no particular circumstance that the left turn must be made positive with respect to the turning angle θ _RA . In the present specification, depending on the fact that the left turn is made positive with respect to the turning angle θ _RA, there is no technique disclosed in this application. There is no limit.

Next, the turning angle determination unit 62 applies the determined turning angle θ _RA to the saturation filter to correct the turning angle θ _RA as necessary so that the absolute value of the turning angle θ _RA does not become excessive. .

Then, the turning angle determination unit 62 stores the turning angle θ _RA in the RAM 51.

(Turning step: S360)
Next, the traveling wheel control unit 63 reads the turning angle θ _RA from the RAM 51 and outputs a turning command to the motor driver 53 based on the turning angle θ _RA (S360). The motor driver 53 controls the rotation speeds of the right wheel motor 54 and the left wheel motor 55 based on the turning command received from the traveling wheel control unit 63. As a result, the self-running robot 1 turns by a desired turning angle θ _{RA as} shown by a thick arrow in FIG.

  In detail, the autonomous mobile robot 1 ignores the presence of the obstacle b that is greatly deviated from the front in the traveling direction of the autonomous robot 1 because it does not interfere with the travel of the autonomous robot 1. It turns based on the distance with c (refer FIGS. 5-7). In the example of FIG. 8, the obstacle c is located closer to the autonomous mobile robot 1 than the obstacle a. However, as shown in FIG. Rather, it is treated as being located near the autonomous robot 1. Therefore, the autonomous mobile robot 1 turns to the right in the traveling direction so as to move away from the obstacle a (see the function p in the above equation (1)). At this time, since the obstacle a and the obstacle c are located considerably far from the autonomous traveling robot 1, the autonomous traveling robot 1 does not have to make an imminent turn and the autonomous traveling robot 1 does not need to make a sudden turn as shown in FIG. The vehicle turns smoothly to the right in the direction of travel (see function q in equation (1) above).

  Next, the traveling control unit 6 determines whether the autonomous traveling robot 1 has reached the destination (S370). When it is determined that the autonomous traveling robot 1 has already reached the destination (S370: YES), the traveling control unit 6 outputs a traveling stop command to the motor driver 53 to stop the autonomous traveling robot 1 (S380). On the other hand, if the traveling control unit 6 determines that the autonomous traveling robot 1 has not yet reached the destination (S370: NO), the traveling control unit 6 returns the process to S320.

  The above-described first embodiment of the present invention has been described. In short, the first embodiment has the following features.

That is, the traveling control unit 6 (traveling control device) that controls the traveling of the autonomous traveling robot 1 (moving body) is configured as follows. That is, a single reference point A that is fixed relative to the robot body 2 (moving body body) of the autonomous traveling robot 1 is set in the autonomous traveling robot 1. The autonomous robot 1 measures the distance between the external environment (obstacle a, etc.) existing on the traveling direction side of the autonomous robot 1 and the reference point A, and calculates a plurality of distance data (distance data D _raw or The distance data generation unit 60 (distance data generation means) for generating the corrected distance data D _weight ), and among the plurality of distance data, it is classified on the right side in the traveling direction of the autonomous robot 1 when viewed from the reference point A. The smallest distance data is extracted as right shortest distance data _DminR , and among the plurality of distance data, it is classified on the left side in the traveling direction of the autonomous robot 1 when viewed from the reference point A. The shortest distance extraction unit 61 (shortest distance extraction means) that extracts the smallest distance data as the left shortest distance data D _minL and the turning angle θ required for the autonomous _mobile robot 1 to avoid collision with the external environment _RA ( However, a turning angle determination unit 62 (turning angle determination means) that determines left turn as positive) based on the following equation (1) is provided. However, p (x) is an odd function with p (0) = 0 and monotonically increasing with respect to x, q (x, y) is x> 0, y> 0, and q (x, y)> It is a function that becomes 0 and monotonically increases for each of x and y. According to the above configuration, the turning angle θ _RA necessary for the autonomous _mobile robot 1 to avoid a collision with the external environment is determined only by the two distance data of the right shortest distance data D _minR and the left shortest distance data D _minL. Since it is determined, the calculation cost required for the autonomous traveling robot 1 to travel while avoiding a collision with the external environment can be suppressed.

In addition, the distance data generation unit 60 corrects the plurality of distance data D _{raw so} that the distance data D _raw becomes smaller as it is in front of the traveling robot 1 in the traveling direction. According to the above configuration, when the turning angle θ _RA required for the autonomous mobile robot 1 to avoid a collision with the external environment is determined, the external environment positioned in front of the traveling direction of the autonomous robot 1 is preferential. Will be considered. Since the external environment greatly deviating from the front of the traveling direction of the autonomous robot 1 does not hinder the traveling of the autonomous robot 1, the autonomous robot 1 can travel without any problems even if this configuration is adopted. Since the self-traveling robot 1 is turned less than necessary, the travel of the self-supporting travel robot 1 is simplified.

In the first embodiment, the distance data generation unit 60 corrects the plurality of distance data D _{raw so} that the distance data D _raw becomes smaller as it is in front of the traveling robot 1 in the traveling direction. It should be noted that this is not a process described above but can be arbitrarily adopted.

  Although the preferred first embodiment of the present invention has been described above, the first embodiment can be modified as follows.

That is, in the first embodiment, the autonomous robot 1 turns by providing a difference between the rotation speed of the right wheel 3 and the rotation speed of the left wheel 4, but instead, the right wheel 3 or A configuration in which the direction of the left wheel 4 is changed can be employed. In this case, the turning angle θ _RA is interpreted as a steering angle.

  Moreover, in the said 1st Embodiment, although the self-supporting traveling robot 1 was picked up as an example of a moving body, even if a moving body is independent-running, it is steered by a pilot, without running independently. Also good. If the moving object is controlled by the pilot, the moving object will run instead of the normal driving mode where the driving of the moving object is controlled by the pilot and the control of the pilot. It is preferable that the avoidance mode controlled by the traveling control of the control unit 6 is switchable. In addition, it is preferable that the normal travel mode is automatically switched to the avoidance mode according to the distance between the moving body and the obstacle. As an example, there is a configuration in which when the distance between the moving body and the obstacle is less than a predetermined value, the normal travel mode is automatically switched to the avoidance mode.

  Moreover, you may make it stop according to the distance between the autonomous mobile robot 1 and an obstruction. Further, when the self-running traveling robot 1 turns, it is conceivable to control the traveling speed intentionally.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. Here, the present embodiment will be described with a focus on differences from the first embodiment, and overlapping descriptions will be omitted as appropriate. In addition, in principle, the same reference numerals are assigned to components corresponding to the respective components of the first embodiment.

(Problems of the first embodiment)
As shown in FIG. 9 and FIG. 10, when a line that coincides with the traveling direction of the autonomous mobile robot 1 when viewed from the reference point A is defined as a front line C of the autonomous robot 1, depending on the case, the front as shown in FIG. There is a possibility that the obstacle f located on the left side of the line C occasionally crosses the front line C as shown in FIG. In this case, in the state of FIG. 9, since there is no obstacle on the right side of the front line C, the autonomous mobile robot 1 tries to turn to the right side with a large turning angle θ _RA , but the autonomous mobile robot 1 does not have any momentum. When the obstacle f crosses the front line C as shown in FIG. 10 due to meandering or the like, the absolute value of the turning angle θ _RA of the autonomous robot 1 suddenly decreases. As described above, when the turning angle θ _RA of the autonomous robot 1 changes stepwise, the smooth running of the autonomous robot 1 is significantly hindered.

  Therefore, in the second embodiment, as shown in FIG. 11, the right reference point AR and the left reference point AL that are fixed relative to the robot body 2 of the self-supporting traveling robot 1 are set. The right reference point AR is located on the right side when the traveling direction of the autonomous mobile robot 1 is viewed as compared to the left reference point AL. In short, the right reference point AR is located on the right side of the front line C and the left reference point AL is located on the left side of the front line C when viewed in the traveling direction of the autonomous mobile robot 1. Preferably, the right reference point AR and the left reference point AL are symmetric with respect to the front line C when viewed in the traveling direction of the autonomous robot 1. In other words, the right reference point AR and the left reference point AL are symmetrical with respect to a line drawn in the traveling direction from the center of the robot body 2 of the autonomous robot 1. In the present embodiment, the right reference point AR is separated from the LRF 5 by a distance h in a direction away from the front line C to the right in the traveling direction of the autonomous mobile robot 1 in a direction perpendicular to the front line C in plan view. Set to position. Further, the left reference point AL is set at a position separated from the LRF 5 by a distance h in a direction away from the front line C in the direction perpendicular to the front line C to the left side in the traveling direction of the autonomous robot 1 in plan view. Has been. Therefore, the right reference point AR and the left reference point AL are separated by a distance 2h in a direction orthogonal to the front line C. In other words, the right reference point AR and the left reference point AL are separated by the same distance in the direction orthogonal to the front line C.

Then, as shown in FIG. 12, the distance data generation unit 60 uses the LRF 5 to measure the distance between the external environment existing on the traveling direction side of the autonomous robot 1 and the right reference point AR. The right distance data D _rawR is generated, and the distance between the external environment existing on the traveling direction side of the autonomous robot 1 and the left reference point AL is measured to generate the left distance data D _rawL . Next, the distance data generation unit 60 _corrects the plurality of right-side distance data D _rawR so that it becomes smaller as it is in front of the traveling robot 1 in the traveling direction, and the plurality of left-side distance data D _rawL progresses by the traveling robot 1. Correction is made so that the smaller the front of the direction, the smaller. The distance data generation unit 60 stores the corrected right distance data D _rawR and the corrected left distance data D _rawL in the RAM 51.

Here, with reference to FIG. 12, the measuring method of the distance between the external environment which exists in the advancing direction side of the self-supporting traveling robot 1 and the right reference point AR using the LRF 5 will be described. First, in the same manner as in the first embodiment, the distance data D _raw that is the distance between the LRF 5 and the obstacle g is measured using the LRF 5. Then, the right distance data D _rawR which is the distance between the external environment existing on the traveling direction side of the autonomous robot 1 and the right reference point AR is obtained by the following equation (3) which is a cosine theorem. In the following formula (3), the definition of the irradiation angle θ _L is the same as that in the first embodiment.

_Similarly, left distance data D _rawL that is the distance between the external environment existing on the traveling direction side of the autonomous _mobile robot 1 and the left reference point AL is obtained by the following equation (4) that is a cosine theorem. In the following formula (4), the definition of the irradiation angle θ _L is the same as that in the first embodiment.

Shortest distance extracting unit 61, in terms of reading the plurality of right distance data D _RaWR from RAM 51, among the plurality of right distance data D _RaWR, extracts the smallest right distance data D _RaWR as right shortest distance data D _minR. Similarly, the shortest distance extraction unit 61 reads a plurality of left distance data D _rawL from the RAM 51, and among the plurality of left distance data D _rawL , the smallest left distance data D _rawL is used as the left shortest distance data _DminL. Extract. The shortest distance extraction unit 61 stores the extracted right shortest distance data D _minR and left shortest distance data D _minL in the RAM 51.

  Since the turning angle determination unit 62 and the traveling wheel control unit 63 are the same as those in the first embodiment, the description thereof is omitted.

  FIG. 13 shows a traveling state of the self-supporting traveling robot 1 in the present embodiment. As shown in FIG. 13, the autonomous mobile robot 1 in the present embodiment also turns without any problem so as to avoid a collision with the obstacle f.

  Although the second embodiment of the present invention has been described above, the second embodiment basically has the following features.

That is, the traveling control unit 6 that controls the traveling of the autonomous traveling robot 1 is configured as follows. A right reference point AR and a left reference point AL that are fixed relative to the robot body 2 of the self-supporting traveling robot 1 are set in the self-supporting traveling robot 1. The right reference point AR is positioned so as to be on the right side when the traveling direction of the autonomous mobile robot 1 is viewed as compared with the left reference point AL. The autonomous _mobile robot 1 measures the distance between the external environment existing on the traveling direction side of the autonomous robot 1 and the right reference point AR to generate a plurality of right distance data D _rawR. A distance data generation unit 60 that measures a distance between the external environment existing on the traveling direction side of the left side reference point AL and a plurality of left side distance data D _rawL , and a plurality of right side distance data D _rawR among extracts the smallest right distance data D _RaWR as right shortest distance data D _minR, among the plurality of left distance data D _Rawl, extracts the smallest left distance data D _Rawl as left shortest distance data D _minL, the shortest distance A turn for determining the turning angle θ _RA (where left turn is positive) necessary for the extraction unit 61 and the autonomous mobile robot 1 to avoid a collision with the external environment based on the following formula (1) And an angle determination unit 62 The However, p (x) is an odd function with p (0) = 0 and monotonically increasing with respect to x, q (x, y) is x> 0, y> 0, and q (x, y)> It is a function that becomes 0 and monotonically increases for each of x and y. According to the above configuration, the turning angle θ _RA necessary for the autonomous _mobile robot 1 to avoid a collision with the external environment is determined only by the two distance data of the right shortest distance data D _minR and the left shortest distance data D _minL. Since it is determined, the calculation cost required for the autonomous traveling robot 1 to travel while avoiding a collision with the external environment can be suppressed. Moreover, when generating the right minimum distance data D _minR and the left shortest distance data D _minL, it means that handled continuously without classifying the external environment, the problem of turning angle theta _RA is changed stepwise Can be solved.

In addition, the distance data generation unit 60 _corrects the plurality of right distance data D _rawR so that it becomes smaller as the distance from the front of the autonomous traveling robot 1 becomes smaller, and the plurality of left distance data D _{rawL becomes} the traveling direction of the autonomous robot 1. It corrects so that it may become so small that it is the front. According to the above configuration, when the turning angle θ _RA required for the autonomous mobile robot 1 to avoid a collision with the external environment is determined, the external environment positioned in front of the traveling direction of the autonomous robot 1 is preferential. Will be considered. Since the external environment greatly deviating from the front of the traveling direction of the autonomous robot 1 does not hinder the traveling of the autonomous robot 1, the autonomous robot 1 can travel without any problems even if this configuration is adopted. Since the self-traveling robot 1 is turned less than necessary, the travel of the self-supporting travel robot 1 is simplified.

1 autonomous robot 2 robot body 3 right wheel 4 left wheel 5 LRF
6 Travel control unit (travel control device)

Claims (8)

A travel control device for controlling travel of a mobile body, wherein a single reference point is set that is fixed relative to the mobile body of the mobile body,
Distance data generating means for measuring a distance between an external environment existing on the traveling direction side of the moving body and the reference point and generating a plurality of distance data;
Among the plurality of distance data, it is classified on the right side in the traveling direction of the moving body as viewed from the reference point, and the smallest distance data is extracted as right shortest distance data _DminR , and the plurality of distance data Among them, the shortest distance extraction means that is classified on the left side in the traveling direction of the moving body as viewed from the reference point, and extracts the smallest distance data as the left shortest distance data _DminL ,
A turning angle determining means for determining a turning angle θ _RA (where left turning is positive) necessary for the mobile body to avoid a collision with the external environment based on the following formula (1):
Comprising
A traveling control device for a moving body.

However, p (x) is an odd function with p (0) = 0 and monotonically increasing with respect to x, q (x, y) is x> 0, y> 0, and q (x, y)> It is a function that becomes 0 and monotonically increases for each of x and y. A travel control device for a mobile object according to claim 1,
The distance data generating means corrects the plurality of distance data so that the distance data becomes smaller as it is in front of the moving body.
A traveling control device for a moving body. A travel control method for controlling travel of a mobile body, wherein a single reference point is set that is fixed relative to the mobile body of the mobile body,
A distance data generation step of measuring a distance between the external environment existing on the traveling direction side of the moving body and the reference point to generate a plurality of distance data;
Among the plurality of distance data, it is classified on the right side in the traveling direction of the moving body as viewed from the reference point, and the smallest distance data is extracted as right shortest distance data _DminR , and the plurality of distance data Among them, the shortest distance extraction step that is classified on the left side in the moving direction of the moving body as seen from the reference point, and extracts the smallest distance data as the left shortest distance data _DminL ,
A turning angle determining step of determining a turning angle θ _RA (where left turning is positive) necessary for the mobile body to avoid collision with the external environment based on the following formula (1): including,
A traveling control method for a moving object.

However, p (x) is an odd function with p (0) = 0 and monotonically increasing with respect to x, q (x, y) is x> 0, y> 0, and q (x, y)> It is a function that becomes 0 and monotonically increases for each of x and y. A travel control program for causing a computer to execute the travel control method for a moving object according to claim 3. A traveling control device for controlling traveling of a moving body, wherein a right reference point and a left reference point that are fixed relative to the moving body of the moving body are set, and the right reference point is the left side reference point Compared to the reference point, it is located on the right side when looking at the traveling direction of the moving body,
Measuring the distance between the external environment existing on the traveling direction side of the mobile object and the right reference point to generate a plurality of right distance data, and the external environment existing on the traveling direction side of the mobile object; Distance data generating means for measuring a distance between the left reference point and generating a plurality of left distance data;
Among the plurality of right distance data, the smallest right distance data is extracted as the right shortest distance data D _minR , and among the plurality of left distance data, the smallest left distance data is extracted as the left shortest distance data D _minL . Shortest distance extraction means;
A turning angle determining means for determining a turning angle θ _RA (where left turning is positive) necessary for the mobile body to avoid a collision with the external environment based on the following formula (1):
Comprising
A traveling control device for a moving body.

However, p (x) is an odd function with p (0) = 0 and monotonically increasing with respect to x, q (x, y) is x> 0, y> 0, and q (x, y)> It is a function that becomes 0 and monotonically increases for each of x and y. A traveling control device for a moving body according to claim 5,
The distance data generation unit corrects the plurality of right-side distance data to be smaller as the moving body is in front of the moving body, and reduces the plurality of left-side distance data as the moving body is in front of the moving direction. To correct,
A traveling control device for a moving body. A traveling control method for controlling traveling of a moving body, wherein a right reference point and a left reference point that are fixed relative to the moving body of the moving body are set, and the right reference point is the left side reference point Compared to the reference point, it is located on the right side when looking at the traveling direction of the moving body,
Measuring the distance between the external environment existing on the traveling direction side of the mobile object and the right reference point to generate a plurality of right distance data, and the external environment existing on the traveling direction side of the mobile object; A distance data generating step for measuring a distance between the left reference point and generating a plurality of left distance data;
Among the plurality of right distance data, the smallest right distance data is extracted as the right shortest distance data D _minR , and among the plurality of left distance data, the smallest left distance data is extracted as the left shortest distance data D _minL . A shortest distance extraction step;
A turning angle determining step of determining a turning angle θ _RA (where left turning is positive) necessary for the mobile body to avoid collision with the external environment based on the following formula (1): including,
A traveling control method for a moving object.

However, p (x) is an odd function with p (0) = 0 and monotonically increasing with respect to x, q (x, y) is x> 0, y> 0, and q (x, y)> It is a function that becomes 0 and monotonically increases for each of x and y. A travel control program for causing a computer to execute the travel control method for a moving object according to claim 7.

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