| 摘要 |
PROBLEM TO BE SOLVED: To autonomously move a robot so as to image a mobile object from various directions.SOLUTION: The autonomous mobile robot for obtaining an imaged image of a mobile object by an imaging part estimates the front direction of the mobile object, stores the direction in which the mobile object is imaged with the front direction as a reference, sets a plurality of mobile candidate positions at the position of the circumference of the mobile object position, and sets one of the candidate positions as a mobile target position by estimating each mobile candidate position. The mobile candidate position located in the direction of being not imaged is estimated to be easily selected as the mobile target position, and the movement route is calculated so that the autonomous mobile robot moves to the mobile target position from an own position, and the autonomous mobile robot is controlled to move along the movement route, and the attitude of the autonomous mobile robot is controlled so that the imaging part faces toward the direction of the mobile object position. |
