| 摘要 |
An autonomous moving body whereby annular route issues in environment maps can be solved and division of environment maps can be automated. In a teaching travel mode, the autonomous moving body: outputs a motor control amount from travel commands input by an operator; estimates the position of the autonomous moving body on the environment map; obtains position information for obstructions in the vicinity of the autonomous moving body; associates position information for obstructions to the time the position information for obstructions was obtained; stores same in the storage unit as data for environment map reconstruction; creates a travel schedule; and stores same in the storage unit. In a reproduction travel mode, the autonomous moving body: estimates the position of the autonomous moving body on the environment map; obtains position information for obstructions in the vicinity of the autonomous moving body; reads data for environment map reconstruction that corresponds to the estimated position of the autonomous moving body; updates the environment map; creates a control amount for the motor, so as to travel on the updated environment map in accordance with the schedule; and inputs same to the travel unit. |
