| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a moving body efficiently performing a given task. <P>SOLUTION: The moving body 1 includes: a movement obstacle detecting means 6, 7 detecting a movement obstacle; an approaching determining means 14 determining whether the movement obstacle approaches the moving body 1 within a prescribed clearance; a standard avoiding operation planning means 15 planning the standard avoiding movement C when determining that the movement obstacle approaches the moving body 1 within the predetermined clearance; a working avoiding operation planning means 16 planning a working avoiding operation E serving for both the avoiding operation of the moving body 1 for avoiding the movement obstacle and the working movement that promotes the movement obstacle to avoid on the basis of the standard avoiding operation C; and a control means 13 controlling the moving body 1 on the basis of the working avoiding operation E. The working avoiding operation planning means 16 plans, as the working avoiding operation E, the avoiding operation in which at least one of the speed of the operation change and a variation amount of the operation change in the standard avoiding operation C is increased. <P>COPYRIGHT: (C)2012,JPO&INPIT</p> |
