| 摘要 |
According to an autonomous mobile object control method of the present invention, the inside of a passageway is measured by a first sensor having a first measurement plane parallel with a surface of the passageway before entry into the passageway. It is then determined whether the passageway is passable on the basis of information from the first sensor. If it is determined that the passageway is passable, a second measurement plane, inclined with respect to the first measurement plane, of a second sensor is scanned to the right and left of the autonomous mobile object, and it is again determined whether the passageway is passable on the basis of information from the second sensor. If, as a result of the determination, it is determined that the passageway is not passable, the autonomous mobile object is moved to a stand-by position outside the passageway. If the passageway is determined to be passable, the autonomous mobile object is allowed to enter the passageway. |
