| 摘要 |
<P>PROBLEM TO BE SOLVED: To reduce costs of a guidance control system and to improve flexibility by improving reproducibility of a traveling track for an autonomous mobile even when landmarks such as magnetic marks or the like are disposed on the floor in a distributed manner. <P>SOLUTION: When autonomously traveling an autonomous mobile along markers installed on the floor or the like and a traveling track predetermined by detecting the markers, the markers are distributed and separately disposed on the floor or the like based on the traveling track of the mobile. The mobile is traveled along a track to be reproduced along the markers through a track learning travel, and two-dimensional coordinates and a traveling direction on a traveling surface of the mobile, as a traveling track, and a detection history of a marker detection section are recorded. On the basis of the recorded traveling track and marker detection history, a map of the markers and a traveling track are generated and when traveling the mobile, the maps of markers are updated based on the traveling track and the marker detection history. <P>COPYRIGHT: (C)2012,JPO&INPIT |
