| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a technique for suppressing calculation cost required for a mobile body to travel, avoiding collision with an external environment. <P>SOLUTION: A travel controller 6 for controlling travel of an autonomous travel robot 1 includes: a distance data generation unit 60 for measuring distances between objects in an external environment existing in its way and a reference point A, and generating plural pieces of distance data; a shortest distance extraction unit 61 for extracting, as right shortest-distance data D<SB POS="POST">minR</SB>, shortest-distance data classified to exist on the right side of its way when viewed from the reference point A among the plural pieces of distance data, and extracting, as left shortest-distance data D<SB POS="POST">minL</SB>, shortest-distance data classified to exist on the left side of its way when viewed from the reference point A among the plural pieces of distance data; and a turning angle determination unit 62 for determining a turning angle θ<SB POS="POST">RA</SB>required for the autonomous travel robot 1 to avoid collision with the external environment. <P>COPYRIGHT: (C)2013,JPO&INPIT |
