Title:
AUTONOMOUS TRAVEL ROUTE PLANNING METHOD
Document Type and Number:
WIPO Patent Application WO/2022/065297
Kind Code:
A1
Abstract:
The objective of the present invention is to create a filled travel route having good traveling efficiency, by determining an appropriate main direction for a travel area. This autonomous travel route planning method includes: a step (S511 to S513) of rotating a travel area (TA) through a prescribed angle each time, and determining whether a first condition that a first line segment (L1) joining two boundaries of the travel area (TA) and parallel to a prescribed reference axis and a boundary of the travel area (TA) are perpendicular is satisfied; a step (S514) of determining whether a second condition that the length of the first line segment (L1) is at least equal to a prescribed proportion of the length (Lmax) of a maximum length line segment (LM) is satisfied; (S515) setting a main direction of the travel area (TA) on the basis of the angle of rotation of the travel area (TA) when the first condition and the second condition are satisfied; and a step (S56 to S62) of combining a first pathway extending in the main direction and a second pathway connected to the start point and/or the end point of the first pathway to create a filled travel route in such a way as to fill the travel area (TA).
Inventors:
DENDA YUKI (JP)
Application Number:
PCT/JP2021/034563
Publication Date:
March 31, 2022
Filing Date:
September 21, 2021
Export Citation:
Assignee:
MURATA MACHINERY LTD (JP)
International Classes:
G05D1/02
Foreign References:
| JP2018116614A | 2018-07-26 | |||
| JP2019101932A | 2019-06-24 |
Attorney, Agent or Firm:
SHINJYU GLOBAL IP (JP)
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