| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an obstacle avoidance supporting device, an obstacle avoidance supporting method and a mobile body provided with the obstacle avoidance supporting device suitable for supporting actions of the mobile body to avoid obstacles in a situation where the point at the nearest distance changes. <P>SOLUTION: An obstacle avoidance supporting unit 101 includes a distance information memory unit 110 that stores into a memory information on the distance to an obstacle measured with a laser range sensor 200, a repulsive force calculating unit 111 that calculates a repulsive force on the basis of the distance information stored in the memory, a repulsive force component separating unit 112 that separates the calculated repulsive force into components in the axial direction, and a repulsive force for avoidance generating unit 113 that extracts from the separated axial components the maximum value in the positive direction and the maximum value in the negative direction for each axis, calculates the sum of the maximum values in the positive direction and the negative direction extracted for each axis and generates a repulsive force for avoidance having the result of calculation as the axial component of each axis. <P>COPYRIGHT: (C)2012,JPO&INPIT |
