| 摘要 |
PROBLEM TO BE SOLVED: To reduce a computational complexity for virtually measuring a distance to an obstacle on a grid map.SOLUTION: A grid map (GM2) of an autonomous mobile device includes a plurality of grid elements, which each hold one of obstacle information representing an obstacle (OB), adjoining region information representing an adjoining region (R2) adjoining the obstacle (OB), and remote region information representing a remote region (R3) remote from the obstacle (OB).SELECTED DRAWING: Figure 7 |
