| 摘要 |
PROBLEM TO BE SOLVED: To secure safety for a third party by making a tracking movement so as not to move outside a movable space.SOLUTION: Position of a mobile object and self position are estimated, a plurality of movement candidate positions are set in surrounding positions separated from the mobile object position by as separating distance, one movement target position among respective movement candidate positions is set by evaluating them, processing is carried out to control to move from the self position to the movement target position and making tracking movement by sequentially repeating respective processes in the autonomous mobile robot making the tracking movement by keeping a prescribed separating distance from the mobile object in the movement space. Here, evaluation is made so that closer to self position the movement candidate position is, it is more easily set to be the movement target. |
