| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled working apparatus that searches for a route from a start point to a goal point and moves by itself in an environment such as a cafe where dynamic obstacles may be present.SOLUTION: A self-propelled image forming apparatus 12 uses dynamic obstacle information in an area where the apparatus can move by itself when searching for a route from a start point S from a goal point G in a cafe 10. The self-propelled image forming apparatus 12 sets encounter probability of routes high where the dynamic obstacle information is present in the past and selects a route with the lowest encounter probability from among the routes, and when dynamic obstacles are actually present on a route, takes the encounter probability of the route as 1 and does not select the route. |
