| 摘要 |
<p>Autonomous locomotion equipment comprising a travelling part having wheels which are driven by a motor, and an upper body part having a surroundings recognition sensor which detects an obstacle in the direction of travel. The autonomous locomotion equipment is provided, in the upper body part, with means for recognizing the position of the autonomous locomotion equipment and obstacles, means for assessing the ability to avoid the obstacles, means for judging the ability to avoid colliding with the obstacles, and means for obtaining, from this collision avoidance ability, the priority of collision avoidance with respect to the estimated region of passage of the obstacles. The autonomous locomotion equipment is also provided with a control part which moves the autonomous locomotion equipment to an area which is a region where the estimated region of passage of high priority obstacles does not overlap with the region in which the travelling part is positioned, and in which area collisions are avoidable even when the estimated region of passage of low priority obstacles overlaps with the region in which the travelling part is present.</p> |
