| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an autonomous mobile device having wide-range map information which is able to get out of the hollow of a building or a dead end, and whose arrival to a destination is guaranteed. <P>SOLUTION: Since a conventional autonomous mobile device searches a local route on the basis of only an obstacle map observed at a current point of time, the autonomous mobile device is not able to search the next via-point and stops when entering the hollow of a building or a dead end. Then, a function of storing and accumulating the obstacle map is provided to create a local map from the accumulated obstacle map. Thus, the autonomous mobile device searches a local route reaching the next via-point by referring to the local map in which the past obstacle map is accumulated even when entering the obstacle, and the autonomous mobile device is able to get out of the obstacle. Since the local map is not erased until the autonomous mobile device arrives at the next branch point, the autonomous mobile device is able to surely arrive at the next branch point, and its arrival to the destination is guaranteed as a result. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
