| 摘要 |
PROBLEM TO BE SOLVED: To provide a movable area extracting device, a movable area extracting system, a movable area extracting method, and a program for detecting the position of an obstacle that becomes an obstacle to the movement of an autonomous mobile robot beforehand, and extracting a movable area to form a pathway for the autonomous mobile robot to move to a destination. SOLUTION: The movable area extracting device includes: a floor surface determination means for determining a floor surface observation point indicative of the floor surface where a movable body can move based on information on the level of the observation point calculated based on the information of a distance sensor installed in a moving range of the movable body at a position that differs from the position of the movable body, based on a floor surface determination value indicative of a predetermined floor surface level; a floor surface mapping means for mapping a flag indicative of whether or not the floor observation point is included in a predetermined two dimensional grid map, based on the information on the position of the observation point calculated based on the information of the distance sensor; and an area extracting means for extracting a movable area based on the area of the grid map showing that the floor surface observation point is included. COPYRIGHT: (C)2011,JPO&INPIT
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