Abstract: An autonomous navigation system for a tracked or skid-steer vehicle is described. The system includes a path planner (54) that computes a series of waypoint locations specifying a path to follow and vehicle location sensors (82). A tramming controller (60) includes a waypoint controller (62) that computes vehicle speed and yaw rate setpoints based on vehicle location information from the vehicle location sensor and the locations of a plurality of neighboring waypoints, and a rate controller (64) that generates left and right track speed setpoints from the speed and yaw rate setpoints. A vehicle control interface actuates the vehicle controls in accordance with the left and right track speed setpoints.

Abstract: A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

Abstract: This disclosure provides a sail assist device, which includes a wind direction sensor for measuring a wind direction, a ship position acquiring module for acquiring a latitude and a longitude of the ship, and a display module for calculating a layline based on the latitude and longitude of the ship, a latitude and a longitude of a target position of the ship, and the wind direction, with the target position being a reference, and displaying a target mark indicating the target, a ship mark indicating the ship, and the layline.

Abstract: A control system is disclosed for a mobile excavation machine operating at a worksite. The control system may have a locating device mounted on the mobile excavation machine that is configured to generate a signal indicative of a current position of the mobile excavation machine at the worksite during completion of an excavation plan. The control system may also have a controller in communication with the locating device and the mobile excavation machine. The controller may be configured to autonomously control the mobile excavation machine based on the excavation plan, and to determine a volume of material missed during completion of a first cut of the excavation plan based on the signal. The controller may be further configured to adjust a characteristic of a second cut of the excavation plan based on the volume of material missed during completion of the first cut of the excavation plan.

Abstract: A method and apparatus for facilitating map data processing for industrial vehicle navigation is described. In one embodiment, the method of partitioning map data for industrial vehicle navigation includes segmenting map data associated with a physical environment into a plurality of sub-area maps, identifying a sub-area map that corresponds with a current vehicle location and navigating an industrial vehicle using the identified sub-area map.

Abstract: A computer-implemented method is provided for automatically guiding a first vehicle to maintain a position relative to a second vehicle traveling in a given area. The method includes the steps of: (a) receiving location data on the first and second vehicles; (b) determining a legal travel path in the given area from the first vehicle toward an expected position of the second vehicle; (c) automatically controlling the first vehicle to travel along the legal travel path; and (d) repeating steps (a) through (c) to automatically move the first vehicle to a relative position from the second vehicle and then to automatically maintain the relative position as the first and second vehicles travel through the given area.

Abstract: A method and hold path computation system for automatically generating a hold path for an aircraft flying in a holding pattern, wherein the holding pattern is defined by one or more orbits within a selectable holding area are provided. The system includes a processor configured to receive a hold departure time indicating a time the aircraft is to leave the hold path to meet a required time of arrival (RTA) at a waypoint, determine a present position of the aircraft within the holding pattern, and determine an amount of time to complete a current hold orbit. The processor is also configured such that if the determined amount of time to complete a current hold orbit is less than or equal to the hold departure time, maintain the aircraft flying in the holding pattern and determine an amount of time by which to shorten the next orbit to exit the holding pattern at the hold departure time.

Abstract: A method and a device are described for scanning the surrounding environment of a vehicle. When the vehicle falls below a first boundary speed a timer is triggered whose state is incremented until the vehicle exceeds a boundary speed, a check of the unobstructed view of the scanning device being carried out upon expiration of the time period recorded by the state of the timer and in which the state of the counter is incremented.

Abstract: An automated method and system includes an automatic guidance system (AGS) and swath pattern. The AGS steers a vehicle towing a rotary baler in an “S”, or oscillatory pattern around a predetermined approximate centerline of the swath path. The oscillatory pattern may be user defined. By steering the vehicle in an oscillatory pattern referenced to the A-B line, a windrow of crop material may be distributed into an even and optimal bale size and density by the baler. Bale chamber sensors detect an imbalance of crop density and in response, AGS adjusts an interval or amplitude of oscillatory pattern.

Abstract: A method of generating a command for a remote vehicle controller by taking in goals and constraints compiled from behavior inputs and action models, and controlling resources by producing low-level actuator commands that realize goals expressed by the behaviors. The method comprises: executing a command based on a kinodynamic fixed depth motion planning (KFDMP) algorithm to plan paths with longer time horizons and to use incremental feedback from evaluators to select a best feasible course of action; and feeding the selected best feasible course of action as servo commands to a drive system or a manipulation system of the remote vehicle controller. The selected best feasible course of action comprises goal-achieving actions within a fixed time horizon of several seconds from the current time each time a course of action is selected.

Abstract: Technologies are described herein for providing a list of alternate diversion airports that is based on up-to-date and accurate information received electronically at the aircraft. The list of alternate diversion airports may be prioritized according to a normal mode when the aircraft is operating under normal flight conditions, or a non-normal mode when the aircraft is operating in an emergency situation. In one aspect of the present disclosure, a system includes an alternate airport diversion planner program that generates the list of alternate diversion airports based on diversion planning information received at an aircraft. The alternate airport diversion planner program subsequently receives periodic updates of the diversion planning information, which is used to update the list of alternate diversion airports that is provided to a pilot of the aircraft.

Abstract: A method for causing vehicles to travel improves work efficiency by minimizing stop time of the vehicles while avoiding deadlock, wherein reservation-requested routes are generated for the respective vehicles. The reservation-requested routes are parts of travel routes and between the current positions and travel stop positions, and are generated in so that a position not interfering with an interference region shown on a map and the terminal position of the reservation-requested routes for other vehicles becomes a terminal. Then, an already reserved route, is generated on conditions that the reservation-requested route for the vehicle does not interfere with the already reserved routes for the other vehicles and that deadlock does not occur. Then, the respective vehicles are controlled to travel from the current positions to the terminal positions of the already reserved routes.

Abstract: A steering system for a work vehicle towing a towed implement is described. A steering control unit is coupled to a location signal generation arrangement on the vehicle, a steering actuator, a memory for storing desired path data of the implement and a slope sensor for detecting a lateral inclination of the work vehicle or the implement. The steering control unit calculates a lateral offset compensation value to steer the work vehicle such that the implement is moved on the desired path and a slope offset compensation value based upon a signal from the tilt sensor to compensate for slope forces pulling the implement down a lateral slope. A steering signal is sent to the steering actuator based upon the lateral offset compensation value and the slope offset compensation value.

Abstract: An autonomous controller for a vehicle. The controller has a processor configured to receive position signals from position sensors and to generate operation control signals defining an updated travel path for the vehicle. The controller has a programmable interface providing communication among the position sensors, the operation control mechanisms, and the processor. The controller is configured to normalize inputs to the processor from the position sensors and to generate compatible operation control signals applied as the inputs to the operation control mechanisms. The processor and the programmable interface define a self-contained unit configurable for operation with a variety of different remote sensors and different remote operation control mechanisms.

Abstract: A robot cleaner that travels straight through alignment of drive wheels to move the robot cleaner and a method of controlling travel of the same. Information related to a movement angle of the robot cleaner is detected from angle information of a caster wheel rotating depending upon a state of a floor, such as a carpet in a state in which texture of the carpet occurs in one direction, and, when the movement angle of the robot cleaner deviates due to slippages of the drive wheels, rates of rotation of the drive wheels are adjusted to correct the slippages of the drive wheels such that the robot cleaner easily travels straight.

Abstract: A device for the supported parking of a vehicle in a parking space is disclosed. The device includes at least one sensor device allowing the detection of at least one object at a near range from the vehicle. The device is implemented for numerically determining the presence of at least one object at a far range from the vehicle, such that the numerical determining of the object in the far range takes place on the basis of the object detected in the near range.

Abstract: A traffic cone includes a body, a transmission device, a driving device, a satellite positioning device, a distance detector, a controller and a power supply device. The transmission device is located under the body for moving the body. The driving device is installed in the body and connected to the transmission device for driving the transmission device. The satellite positioning device is installed in the body and generates a positioning signal. The distance detector is installed in the body and generates a distance signal. The controller is installed in the body and electrically connected to the driving device for controlling the driving device based on the positioning signal and the distance signal. The power supply device is installed in the body for supplying the required power to the traffic cone.

Abstract: A control system for vehicle headlights includes a navigation device and a control unit which controls the illumination characteristics of the headlights depending on geographic location information received by the navigation device. The illumination characteristics are adapted in compliance with predefined illumination settings if the acquired geographic location information shows that the vehicle headlights are being operated on public roads. The illumination characteristics are adapted with further consideration of illumination settings specified by the driver if the location information shows that the vehicle headlights are being operated on non-public roads.

Abstract: A movable body system includes a movable body to which an image pickup apparatus is attached; an image analyzer that performs image matching between the image captured by the image pickup apparatus and an image, which is previously captured on the travel path of the movable body; a wall-surface detector that detects directions of the movable body with respect to wall surfaces, which are arranged along the travel path, and distances between the wall surfaces and the movable body; and a traveling-direction calculator that detects a shift of the movable body with respect to the travel path from an output of the image analyzer or the wall-surface detector, and calculates a traveling direction to cause the movable body to travel on the travel path.

Abstract: Aspects of the disclosure relate generally to detecting lane markers. More specifically, laser scan data may be collected by moving a laser along a roadway. The laser scan data may include data points describing the intensity and location information of objects within range of the laser. Each beam of the laser may be associated with a respective subset of data points. For a single beam, the subset of data points may be further divided into sections. For each section, the average intensity and standard deviation may be used to determine a threshold intensity. A set of lane marker data points may be generated by comparing the intensity of each data point to the threshold intensity for the section in which the data point appears and based on the elevation of the data point. This set may be stored for later use or otherwise made available for further processing.

Abstract: A method and system for calculating an energy efficient route is disclosed. A route calculation application calculates one or more routes from an origin to a destination. For each of the routes, the route calculation application uses segment cost data associated with each segment in the route. The segment cost is calculated by adjusting an energy consumption value by subtracting a bias term for each segment with known slope data. The bias term causes segment costs associated with segments having a slope that can be traveled with typical efficiency, a zero slope, and an unknown slope to be substantially the same. The bias term also causes the segment cost associated with a segment with a slope that can be traveled efficiently to be less than the segment cost associated with a segment with unknown slope, and the segment cost associated with a segment with a slope that causes inefficient travel to be greater than the segment cost associated with a segment with unknown slope.

Abstract: A single track in-line legged vehicle is controlled to coordinate movement along a desired single-track trajectory by causing each in-line leg to selectively perform a stance-to-flight phase, a flight phase, a flight-to-stance phase, and a stance phase. During the stance-to-flight phase, reaction forces and torques between a foot and the ground are unloaded to lift the foot off the ground. During the flight phase, a foot moves in the same general direction and at a generally faster rate as a major direction of motion of the vehicle body. During the flight-to-stance phase, foot positioning is controlled to place a foot on the ground according to the desired single-track trajectory. During the stance phase, foot-to-ground interaction develops reaction forces and torques that are transferred from the foot through the corresponding in-line leg to propel, torque, and stabilize the body in the x, y, z, pitch, roll, and yaw axes.

Abstract: A method for coordinating the paths of multiple autonomous vehicles and a vehicle configured to coordinate its path with the path(s) of other vehicles so as to enhance cooperation between the vehicles. The method also enables the vehicles to perform their respective missions more efficiently. The method is applicable to any system in which multiple autonomous vehicles may need to coordinate their paths with each other.

Abstract: Topographical data for a work location is created and information on a new travel route is generated. Next, a work location including the new travel route is constructed on the basis of the created topographical data. Then, the information on the new travel route generated is provided to the vehicle, the vehicle is made to travel along said new travel route in accordance with temporary travel control data, and actual topographical data for the new travel route is acquired. Next, the aforementioned temporary travel control data is corrected on the basis of the acquired actual topographical data for the new travel route. After that, the unmanned vehicle is made to travel in accordance with the corrected travel control data.

Abstract: A computer implemented method for unattended detection of a current terrain to be traversed by a mobile device is disclosed. Visual input of the current terrain is received for a plurality of positions. Audio input corresponding to the current terrain is received for the plurality of positions. The video input is fused with the audio input using a classifier. The type of the current terrain is classified with the classifier. The classifier may also be employed to predict the type of terrain proximal to the current terrain. The classifier is constructed using an expectation-maximization (EM) method.

Abstract: In an apparatus for controlling an autonomous operating vehicle, a traveling direction and traveled distance are calculated based on outputs of wheel speed sensor and angular velocity sensor, and the vehicle is controlled to, as traveling straight, perform the operation using an operating machine in accordance with a predetermined travel pattern in a travel-scheduled area based on the calculated traveling direction and traveled distance. It is determined whether a difference between a scheduled-travel distance scheduled in the predetermined travel pattern and an actual traveled distance exceeds a permissible value when the vehicle is traveled straight and a center value of the outputs of the angular velocity sensor is corrected when the difference is determined to exceed the permissible value.

Abstract: Various examples are described for an artificial intelligence valet system. In one example, among others, a distributed information sharing system can obtain route information associated with a geographic area and provide the route information to a user vehicle in response to a request. In another example, an autonomous user vehicle can receive a request to autonomously proceed to a user defined location; obtain route information; and determine a route to the user defined location using the route information. In another example, a collision avoidance system can determine if an object is in a path of travel of a vehicle based at least in part upon sensory data and maneuver the vehicle based at least in part upon an object determination. In another example, an accident reporting system can determine an occurrence of a violation of a vehicle; obtain recordings of the environment surrounding the vehicle; and report the violation.

Abstract: A sensor calibration ECU includes: a calibratability determination portion that determines whether or not a distance image sensor is in a calibratable state on the basis of at least one of the state of a vehicle and the state of a road surface on which the vehicle is positioned; and a calibration execution portion that calibrates the distance image sensor on the basis of a pre-found distance (=reference distance) between the distance image sensor and the road surface on which the vehicle is positioned, when it is determined by the calibratability determination portion that the distance image sensor is in the calibratable state.

Abstract: The present invention relates to a method for controlling a self-propelled robot device, such as a robot device for mowing grass, and a control system that carries out the aforementioned method. According to the invention, the self-propelled robot device is driven by an inertial navigation system for a set time period or distance and the device is periodically stopped for rectifying the position and advancing course thereof by a satellite detection system: the periodic correction of the inertial navigation system using satellite detections thus prevents course errors from accumulating. The correction based on the satellite detection system can be possibly optimized through a further selection of the obtained values according to a statistical basis. Preferably, the control method according to the invention also provides a procedure for detecting, recording and mapping the operating region wherein the device is operated.

Abstract: A route planning device that is capable of comprehending, in advance, a route clearance at a pass-through point on a planned travel route, includes a global map acquisition unit arranged to generate a global map showing an obstacle area in which an obstacle exists, an extended area generation unit arranged to generate an extended obstacle area and three extended area by extending stepwise an outline of the obstacle area contained in the global map, an integrated map generation unit arranged to generate an integrated map by superposing for integration of the extended obstacle area with the three extended areas; a movable area extraction unit arranged to extract a movable area from the integrated map and thinning the same, and a route planning unit arranged to acquire a route clearance at a sub goal according to the extended areas on the integrated map to which the sub goal on the travel route belongs, upon planning the travel route from the thinned movable area.

Abstract: An environmental map correction device that acquires an environmental map that matches an actual ambient environment includes a conversion unit arranged to convert object existence probability information of respective grids configuring a global map into image information (shading information of a black and white image), a display unit arranged to display a global map image based on the converted image information, an operation input unit arranged to receive a correcting operation from a user, a correction unit arranged to correct the global map image displayed by the display unit according to the correcting operation by the user, and an inversion unit arranged to acquire a corrected global map by inverting the corrected global map image (shading information) into the object existence probability information.

Abstract: A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.

Abstract: An autonomous mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle detector unit 3, which detects an obstacle, a route producer unit 7, which determines a route for reaching to a destination while avoiding the obstacle detected by the obstacle detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit 2, which loads the obstacle detector unit and the route producer unit thereon and moves, thereby operating under circumstances mixing with a human being(s), wherein the obstacle detector unit, further, detects a terminal point of an article lying in an advancing direction of the autonomous mobile robot apparatus, and a distance between the terminal point and the autonomous mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of

Abstract: Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle may determine the uncertainty in its perception system and use this uncertainty value to make decisions about how to maneuver the vehicle. For example, the perception system may include sensors, object type models, and object motion models, each associated with uncertainties. The sensors may be associated with uncertainties based on the sensor's range, speed, and /or shape of the sensor field. The object type models may be associated with uncertainties, for example, in whether a perceived object is of one type (such as a small car) or another type (such as a bicycle). The object motion models may also be associated with uncertainties, for example, not all objects will move exactly as they are predicted to move. These uncertainties may be used to maneuver the vehicle.

Abstract: In a hydraulic shovel positional guidance system, an optimal work position calculation unit is configured to calculate an optimal work position of a main vehicle body where a diggable range in which a target surface and an operability range overlap is largest. A display unit is configured to display a guidance picture showing the optimal work position.

Abstract: Method of formulating a lateral flight trajectory for the rejoining by an aircraft (200) of a trajectory of a flight plan (910) comprising a plurality of waypoints (911, 912, 913), the aircraft (200) flying outside of the flight plan (910) and according to a divergent track with respect to the trajectory of the flight plan (210), characterized in that the method: determines a waypoint (913) of the flight plan for the rejoining, defined as the first waypoint (913) of the flight plan included in a capture zone defined by the flight plan trajectory situated downstream of the point of intersection between the straight line defined by an angle (?) with the perpendicular to the track of the aircraft and the trajectory of the flight plan, formulates the optimal lateral flight trajectory for a rejoining by the aircraft (200) at the determined waypoint.

Abstract: An autonomous control system for a vehicle that controls the speed and steering system of the vehicle to operate in a lane-keeping mode or a lane-changing mode. Position sensors sense the location of surrounding vehicles. A lane determining system identifies a current lane where the vehicle is located. A source of oncoming lane course data provides information as to the course of the current lane. A controller provides instructions to the steering system and speed control system to maneuver the vehicle in either the lane-keeping mode or the lane-changing mode. The driver may override the control system by providing a manual input to the steering system or the speed control system.

Abstract: Disclosed are a system and method for recognizing an obstacle at the time of parking.

Abstract: An autonomous vehicle comprises at least one image sensor to provide measurements of landmark position for a plurality of landmarks; and processing functionality to estimate the position of the plurality of landmarks in a global frame and in the autonomous vehicle's frame, and to estimate the kinematic state of the autonomous vehicle in a global frame based, at least in part, on the measurements of landmark position from the at least one image sensor. The processing functionality is further operable to calculate errors in the estimated positions of the plurality of landmarks in the global frame and in the estimate of the kinematic state of the autonomous vehicle in the global frame by using a plurality of unit projection vectors between the estimated positions of the plurality landmarks in the autonomous vehicle's frame and a plurality of unit projection vectors between the estimated positions of the plurality of landmarks in the global frame.

Abstract: An autonomous mobile body includes a laser range sensor and an electronic control device. The electronic control device includes a storage unit that stores a size D2 of the autonomous mobile body, a width identification unit that identifies a spatial size D1 in a width direction of a passage which is a region where the autonomous mobile body can move, a calculation unit that calculates a size 8 of an interfering obstacle in a direction which is substantially perpendicular to a moving target direction on a road surface based on obstacle information, an action selection unit that selects a stopping action or a retreat action based on the spatial size D1, the size D2 of the autonomous mobile body, and the size D8 of the interfering obstacle, and a mobile control unit that controls the autonomous mobile body to stop when the stopping action is selected and control the autonomous mobile body to retreat when the retreat action is selected.

Abstract: A robot system includes camera, a distance direction sensor and a controller. The controller is configured to store a plurality of instruction images obtained as a target of the real-time image at each of a plurality of discrete instruction points provided on a predetermined running path. The controller is configured to switch, on the basis of predetermined switching conditions, between an image guidance mode in which the controller controls a running subsystem on the basis of a comparison result between the real-time image and the instruction image, and a measurement distance guidance mode in which the controller controls the running subsystem on the basis of a detection result of the distance direction sensor.

Abstract: An apparatus for establishing a route of a moving object, the apparatus including: an information reception unit configured to receive map data from the outside, a global route generation unit configured to generate a global route based on the map data and location information and destination information of a moving object, a surrounding environment sensor unit configured to sense information regarding a surrounding environment of the moving object when the moving object runs, a local route generation unit configured to generate one or more local routes based on the sensed information regarding a surrounding environment, a running unit configured to run the moving object based on the local route, and, when two or more local routes are generated, establish a route of the moving object through matching between the global route and the local routes, and running the moving object.

Abstract: A robot that is capable of traveling while moving an object such that the object and the robot itself will not step out of a predetermined area is provided. If a traveling requirement that the robot and the object remain within a pathway area is not met, then an action scheme of the robot is corrected so as to meet the traveling requirement. Then, the robot travels while moving the object according to the corrected action scheme, thus enabling the robot to travel while moving the object such that both the object and the robot do not step out of the pathway area.

Abstract: A vehicle body speed estimating device. An attitude angle estimating mechanism estimates a roll angle and a pitch angle. A longitudinal speed computing mechanism computes longitudinal vehicle body speed. A vehicle body speed estimator estimates lateral vehicle body speed by using, as state amounts of vehicle motion, the longitudinal vehicle body speed and the lateral vehicle body speed, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration and yaw angular velocity of vehicle motion, and respective estimated values of the roll angle and the pitch angle, and a product of a computed value of the longitudinal vehicle body speed and a value obtained from an absolute value of the detected value of the yaw angular velocity.

Abstract: A system and method for determining characteristics of a physical environment with simple motion patterns are provided. A plurality of raw orientation readings are received from a simple motion pattern. A distribution of possible wall orientations upon each raw reading is determined. Wall direction is determined as the mean value of the distribution.

Abstract: A legged vehicle includes a body, wherein the body includes a major axis corresponding to a primary direction of travel; a plurality of leg mechanisms attached to the body, wherein each leg is attached at its proximal end at one or more discrete attachment points, wherein the attachment points are arranged in-line, one behind the other, with respect to the body, each of the legs including actuators attached between the legs and the body and between adjacent leg members, said legs being actuated for movement of a distal end in three dimensions; a control system in communication with the leg mechanisms to coordinate movements of the leg mechanisms according to approximately single track foot placement, and movement of the legged vehicle in three dimensions over the ground; and a power source connected to and driving the control system components and the plurality of actuators and joints which drive the legs.

Abstract: Systems and methods for estimation of roadway travel information based on historical travel data are disclosed. In one embodiment, a system for estimating travel conditions may comprise, for example, a communication network; an automobile navigation system communicatively coupled to the communication network, the automobile navigation system for specifying a future travel information for travel along the desired route on the desired date; and a processor communicatively coupled to the communication network, the processor estimating travel conditions associated with the desired route on the desired date, and the processor performing said estimation by correlating the future travel information with historical travel information.

Abstract: A target route generation system which generates a target route for a robot (R) to travel along autonomously is provided with a route candidate generation element (110) which generates a plurality of travel route candidates to connect the terminating point and the starting point by connecting links stored at a link storing element (211), state recognition elements (115 to 118) which recognize a state of the robot (R), and a route evaluation IC element (120) which evaluates a cost of a travel route candidate including therein an action point stored in an action point storing element (212) lower as the necessity for passing by the action point is higher in view of the state of the robot (R) recognized by the state recognition elements (115 to 118). According to the system, the robot can be made to travel through the action point with a high necessity in view of the state of the robot.

Abstract: Autonomous collision avoidance systems for unmanned aerial vehicles are disclosed. Systems illustratively include a detect and track module, an inertial navigation system, and an auto avoidance module. The detect and track module senses a potential object of collision and generates a moving object track for the potential object of collision. The inertial navigation system provides information indicative of a position and a velocity of the unmanned aerial vehicle. The auto avoidance module receives the moving object track for the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle. The auto avoidance module utilizes the information to generate a guidance maneuver that facilitates the unmanned aerial vehicle avoiding the potential object of collision.

Abstract: An autonomous mobile device has its movement controlled by a control device and includes a first sensing unit for sensing an obstacle. The control device includes a first storage unit for storing information as to a temporary positional fluctuation of the obstacle and sets as a virtual obstacle region a region where it is predicted that the obstacle sensed by the first sensing unit travels following a predetermined time passage based on the information as to the temporary positional fluctuation of the obstacle stored in the first storage unit.