| 摘要 |
<P>PROBLEM TO BE SOLVED: To move a mobile body along a suitable moving route. <P>SOLUTION: A mobile body which travels inside a passage includes a sensor 11, a self-position estimation section 12 which estimates a self-position from information of a sensor 11, a map data section 13 which has map information, a route planning section 14 which calculates a pre-shift route from a move starting point to a move ending point, a route shift processing section 15 which calculates a post-shift route by shifting the route on the basis of a distance between the pre-shift route and a wall of the passage, a travel command value generation section 16 which generates a travel command value for traveling along the post-shift route, and a travel control section 17 which controls a driving section on the basis of the travel command value. The route shift processing section 15 determines a shift amount in the case where the distance from the pre-shift route to the wall becomes long on the basis of a shift amount calculated at a point where the distance to a wall of the side face is shorter in comparison with a corresponding point and, when normals from route points cross each other as a result of shift processing, any one of route points of the post-shift route calculated from the route points of which the normals cross each other is removed. <P>COPYRIGHT: (C)2012,JPO&INPIT |
