| 摘要 |
PROBLEM TO BE SOLVED: To enable an autonomous moving apparatus to pass an area, where a certain number or more of moving objects exist, stably at high speed. SOLUTION: The autonomous moving apparatus 1 includes an external sensor part 2, a moving object detecting means 40, an own position prediction means 41, a follow-up object choosing means 42, a passage creating means 43, and a driving part 3. Based on object position coordinate 108 of the moving object and velocity vector 109, the follow-up object choosing means 42 chooses the moving object nearest to the direction of a target of this apparatus 1 as the follow-up target, the passage creating means 43 generates the running path to the back of the follow-up target. The follow-up object choosing means 42 obtains the object position coordinate 108 and the velocity vector 109 of other moving object even during the follow-up of the target object, and if determines that it is better to change the follow-up target, the follow-up target is switched and the passage creating means 43 generates the running path up to the target object after the switching. COPYRIGHT: (C)2011,JPO&INPIT
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