JPS6093524A - 移動ロボットの制御装置 - Google Patents

移動ロボットの制御装置

Info

Publication number
JPS6093524A
JPS6093524A JP58201652A JP20165283A JPS6093524A JP S6093524 A JPS6093524 A JP S6093524A JP 58201652 A JP58201652 A JP 58201652A JP 20165283 A JP20165283 A JP 20165283A JP S6093524 A JPS6093524 A JP S6093524A
Authority
JP
Japan
Prior art keywords
robot
track
trajectory
sensor
area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP58201652A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0379723B2 (en]
Inventor
Katsuji Okumura
奥村　勝司
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
OOTOMATSUKUSU KK
Original Assignee
OOTOMATSUKUSU KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by OOTOMATSUKUSU KK filed Critical OOTOMATSUKUSU KK
Priority to JP58201652A priority Critical patent/JPS6093524A/ja
Priority to US06/567,978 priority patent/US4674048A/en
Priority to EP84100065A priority patent/EP0142594B1/en
Priority to AT84100065T priority patent/ATE44322T1/de
Priority to DE8484100065T priority patent/DE3478824D1/de
Priority to CA000445143A priority patent/CA1217836A/en
Publication of JPS6093524A publication Critical patent/JPS6093524A/ja
Publication of JPH0379723B2 publication Critical patent/JPH0379723B2/ja
Granted legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
JP58201652A 1983-10-26 1983-10-27 移動ロボットの制御装置 Granted JPS6093524A (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP58201652A JPS6093524A (ja) 1983-10-27 1983-10-27 移動ロボットの制御装置
US06/567,978 US4674048A (en) 1983-10-26 1984-01-04 Multiple robot control system using grid coordinate system for tracking and completing travel over a mapped region containing obstructions
EP84100065A EP0142594B1 (en) 1983-10-26 1984-01-04 Control system for mobile robot
AT84100065T ATE44322T1 (de) 1983-10-26 1984-01-04 Steuerungssystem fuer einen bewegbaren roboter.
DE8484100065T DE3478824D1 (en) 1983-10-26 1984-01-04 Control system for mobile robot
CA000445143A CA1217836A (en) 1983-10-26 1984-01-12 Control system for mobile robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58201652A JPS6093524A (ja) 1983-10-27 1983-10-27 移動ロボットの制御装置

Publications (2)

Publication Number Publication Date
JPS6093524A true JPS6093524A (ja) 1985-05-25
JPH0379723B2 JPH0379723B2 (en]) 1991-12-19

Family

ID=16444638

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58201652A Granted JPS6093524A (ja) 1983-10-26 1983-10-27 移動ロボットの制御装置

Country Status (1)

Country Link
JP (1) JPS6093524A (en])

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02239830A (ja) * 1989-03-14 1990-09-21 Matsushita Electric Ind Co Ltd 移動作業用ロボット
US5369347A (en) * 1992-03-25 1994-11-29 Samsung Electronics Co., Ltd. Self-driven robotic cleaning apparatus and driving method thereof
CN105892459A (zh) * 2016-04-01 2016-08-24 清华大学 一种非时间参考的差速驱动机器人定点跟踪控制方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1830548A1 (en) * 2004-12-20 2007-09-05 Huawei Technologies Co., Ltd. An implement method for colorful ring and the network system thereof
JP2008509612A (ja) * 2004-08-12 2008-03-27 華為技術有限公司 通話に背景音を追加する方法及びシステム
JP2011160220A (ja) * 2010-02-01 2011-08-18 Nippon Telegr & Teleph Corp <Ntt> サービス提供システムおよびアプリケーションサーバ
WO2012104712A2 (en) * 2011-02-01 2012-08-09 Alcatel Lucent Method and apparatus for providing a user with charging-related voice service
US20130094633A1 (en) * 2011-10-13 2013-04-18 David Andrew Mauro Method and apparatus for enhancing an interactive voice response (ivr) system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008509612A (ja) * 2004-08-12 2008-03-27 華為技術有限公司 通話に背景音を追加する方法及びシステム
EP1830548A1 (en) * 2004-12-20 2007-09-05 Huawei Technologies Co., Ltd. An implement method for colorful ring and the network system thereof
JP2011160220A (ja) * 2010-02-01 2011-08-18 Nippon Telegr & Teleph Corp <Ntt> サービス提供システムおよびアプリケーションサーバ
WO2012104712A2 (en) * 2011-02-01 2012-08-09 Alcatel Lucent Method and apparatus for providing a user with charging-related voice service
US20130094633A1 (en) * 2011-10-13 2013-04-18 David Andrew Mauro Method and apparatus for enhancing an interactive voice response (ivr) system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02239830A (ja) * 1989-03-14 1990-09-21 Matsushita Electric Ind Co Ltd 移動作業用ロボット
US5369347A (en) * 1992-03-25 1994-11-29 Samsung Electronics Co., Ltd. Self-driven robotic cleaning apparatus and driving method thereof
CN105892459A (zh) * 2016-04-01 2016-08-24 清华大学 一种非时间参考的差速驱动机器人定点跟踪控制方法
CN105892459B (zh) * 2016-04-01 2018-07-06 清华大学 一种非时间参考的差速驱动机器人定点跟踪控制方法

Also Published As

Publication number Publication date
JPH0379723B2 (en]) 1991-12-19

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