| 摘要 |
PROBLEM TO BE SOLVED: To efficiently and automatically correct a travel error between a teaching by a user and an actual autonomous travel robot.SOLUTION: An autonomous mobile body corrects an advance direction of a travel route, so that, when the autonomous mobile body travels on the input travel route, the autonomous mobile body detects a proximity state with a buffer area for securing a feeling of distance from a surface position of a travel obstacle to a half length of body width of the autonomous mobile body, and temporarily stops at a position where the mobile body almost contacts the travel obstacle, and a line center of the travel route is along a direction where a positional relationship in which the line center is closer to a boundary of the buffer area as possible, can be held.SELECTED DRAWING: Figure 8 |
