초록 ▼

The present invention relates to an automatic running control apparatus of a robot and a method thereof by which a fuzzy logic rule is performed utilizing data on a running direction, a running distance and an obstacle when a self-propelled mobile robot runs along a rectilinear distance, so that the

The present invention relates to an automatic running control apparatus of a robot and a method thereof by which a fuzzy logic rule is performed utilizing data on a running direction, a running distance and an obstacle when a self-propelled mobile robot runs along a rectilinear distance, so that the robot can avoid the obstacle in the running direction, and at the same time, the robot can run accurately to a target point maintaining a predetermined running speed.

대표청구항 ▼

[ What is claimed is:] [1.] An automatic running control apparatus for a robot, the apparatus comprising:running distance detecting means for detecting a distance the robot has traveled;directional angle detecting means for detecting a change in a running direction of the robot;position discriminati

[ What is claimed is:] [1.] An automatic running control apparatus for a robot, the apparatus comprising:running distance detecting means for detecting a distance the robot has traveled;directional angle detecting means for detecting a change in a running direction of the robot;position discriminating means for determining a present absolute position of the robot based on data detected by the directional angle detecting means;obstacle detecting means for detecting the presence of an obstacle around the robot and for detecting a distance to the obstacle;obstacle position operation means for determining a comparative position of the robot based on information obtained from the directional angle detecting means and obstacle detecting means;obstacle avoidance fuzzy inference means for performing a fuzzy inference for determining the running direction of the robot by utilizing information obtained from the obstacle position operation means;rectilinear running fuzzy inference means for performing a fuzzy inference for rectilinear running of the robot by utilizing information obtained from the position discriminating means;constant speed running fuzzy inference means for performing a fuzzy inference for speed control of the robot by utilizing running speed data obtained from the running distance detecting means and distance data to the obstacle obtained from the obstacle detecting means; anddriving control means for controlling movement of the robot based on at least one of the fuzzy inferences performed by the obstacle avoidance fuzzy inference means, the rectilinear running fuzzy inference means, and the constant speed running fuzzy inference means.