| 摘要 |
<p>PURPOSE:To provide an autonomous moving robot in which a parallel processing for deciding a progressing speed and a steering angle can be realized even when sensor information is fetched, and the time of an arithmetic processing can be reduced. CONSTITUTION:A sensor data fetching means 40 successively starts an ultrasonic wave sensor 3... fixed to the surrounding of a robot main body, and fetches the distance data of one circumference. After fetching the distance data, the sensor data fetching means 40 reads the position coordinate and progressing direction angle of the robot from a dead recoing device 6, and transmits the distance data of one circumference and the read information as the information of a point of time (i) to a path following-up means 41. On the other hand, the path following-up means 41 reads the distance data and the position coordinate and progressing direction angle of the robot at the point of time (i) in a data communication network with the sensor data fetching means 40, and calculates the deviation angle of the distance and the path direction and progressing direction against a preliminarily applied set path, based on the position coordinate and the progressing direction angle.</p> |
