KR900000746A - How to modify the path of a stand alone driverless car - Google Patents

How to modify the path of a stand alone driverless car

Info

Publication number
KR900000746A
KR900000746A KR1019880006550A KR880006550A KR900000746A KR 900000746 A KR900000746 A KR 900000746A KR 1019880006550 A KR1019880006550 A KR 1019880006550A KR 880006550 A KR880006550 A KR 880006550A KR 900000746 A KR900000746 A KR 900000746A
Authority
KR
South Korea
Prior art keywords
route
driving
path
distance
modify
Prior art date
Application number
KR1019880006550A
Other languages
Korean (ko)
Other versions
KR920006934B1 (en
Inventor
도모시 니시까와
Original Assignee
이노마다 시게오
신꼬오덴끼 가부시끼 가이샤
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 이노마다 시게오, 신꼬오덴끼 가부시끼 가이샤 filed Critical 이노마다 시게오
Publication of KR900000746A publication Critical patent/KR900000746A/en
Application granted granted Critical
Publication of KR920006934B1 publication Critical patent/KR920006934B1/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions

Abstract

내용 없음.No content.

Description

자립형무인차의 경로수정방법Route correction method of self-supporting unmanned vehicle

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 이 발명의 한 실시예에 의한 경로수정방법을 적용한 자립형무인차의 구성을 보여주는 블럭도.1 is a block diagram showing the configuration of a self-supporting driverless vehicle to which the route correction method according to an embodiment of the present invention is applied.

제2a도 및 제2b도는 동실시예에 의한 자립형 무인차의 구성을 보여주는 저면도.2a and 2b is a bottom view showing the configuration of the self-supporting driverless vehicle according to the embodiment.

제3도는 동실시예에 있어서 소정패턴의 커브의 조합에 의해 경로를 수정할 경우의 주행패턴의 설명도.3 is an explanatory diagram of a traveling pattern when a path is corrected by a combination of curves of a predetermined pattern in the same embodiment.

Claims (1)

목적지가 지시되면 미리 주어져 있는 지도데이터에 따라 목적지로 향하는 과정에서 통과하는 절점을 결정하여 이것들의 절점을 순차적으로 연결하는 정규의 주행예정경로와 현재의 주행경로와를 비교하여 경로를 수정해가면서 주행하는 자립형 무인차에 있어서, 현재의 주행경로가 정규의 주행예정경로로부터 소정양 이탈한 시점에서 현재위치에서 소정패턴의 커브조합에 의해 경로를 수정하는데 필요한 소요거리와 현재위치에서 다음에 도달하는 절점까지의 잔여 주행거리와를 비교하고, 상기 잔여주행거리가 상기 소요거리보다도 클때에는 소정패턴의 커브조합에 의해 경로를 수정하고 상기 잔여주행거리가 상기 소요거리보다도 작을 경우는 구동륜의 방향을 변경시켜 그 방향으로 이동하는 횡행동작에 의해 경로를 수정하는 것을 특징으로 하는 자립형 무인차의 경로수정방법.When the destination is indicated, the route is modified by comparing the current driving route with the regular driving schedule route that connects these nodes sequentially by determining the nodes passing in the process of heading to the destination according to the map data given in advance. In the self-supporting driverless vehicle, when the current driving route deviates from the normal driving route by a predetermined amount, the required distance required to correct the route by the combination of curves of the predetermined pattern at the current position and the node reaching next from the current position When the residual driving distance is larger than the required distance, the route is corrected by a combination of curves of a predetermined pattern, and when the residual driving distance is smaller than the required distance, the direction of the driving wheel is changed. The path is corrected by the transverse motion moving in the direction. How to modify the path of a stand-alone unattended car. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019880006550A 1986-12-16 1988-06-01 Unmanned vehicle path correcting method KR920006934B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP61-299603? 1986-12-16
JP61299603A JP2671297B2 (en) 1986-12-16 1986-12-16 Route correction method for self-supporting unmanned vehicles

Publications (2)

Publication Number Publication Date
KR900000746A true KR900000746A (en) 1990-01-31
KR920006934B1 KR920006934B1 (en) 1992-08-22

Family

ID=17874770

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019880006550A KR920006934B1 (en) 1986-12-16 1988-06-01 Unmanned vehicle path correcting method

Country Status (2)

Country Link
JP (1) JP2671297B2 (en)
KR (1) KR920006934B1 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3536418B2 (en) * 1995-04-14 2004-06-07 ミノルタ株式会社 Autonomous vehicles
JP5043410B2 (en) * 2006-12-01 2012-10-10 パナソニック株式会社 Autonomous mobile device
JP5687967B2 (en) * 2011-07-19 2015-03-25 株式会社日立製作所 Automated guided vehicle and travel control method
KR20170124816A (en) 2016-05-03 2017-11-13 현대자동차주식회사 Apparatus and Method for deciding Course allowed for Vehicular driving Situation
WO2019058700A1 (en) * 2017-09-25 2019-03-28 ソニー株式会社 Control device, control method, and program
CN112683275B (en) * 2020-12-24 2023-11-21 长三角哈特机器人产业技术研究院 Path planning method for grid map

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58137011A (en) * 1982-02-08 1983-08-15 Hitachi Kiden Kogyo Ltd Correcting device for oblique motion of unattended carrying car
JPS59711A (en) * 1982-06-25 1984-01-05 Hitachi Kiden Kogyo Ltd Above-ground mobile body for running in longitudinal and lateral directions
JPS59169606U (en) * 1983-04-25 1984-11-13 三菱電機株式会社 automated guided vehicle
JPS61221806A (en) * 1985-03-27 1986-10-02 Toyota Motor Corp Autonomous guiding unmanned carrier

Also Published As

Publication number Publication date
JP2671297B2 (en) 1997-10-29
KR920006934B1 (en) 1992-08-22
JPS63150708A (en) 1988-06-23

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