| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an autonomous mobile body that smoothly avoids an obstacle. <P>SOLUTION: The mobile body includes a moving mechanism that is freely translatable in a horizontal plane and rotatable around a vertical axis, and determines a distance to an obstacle for each azimuth by an obstacle sensor. By using a model having arcs on both ends in the long axis direction, connecting the arcs with a line in the long axis direction, and further including the autonomous mobile body therein, the translation and rotation are combined to drive the moving mechanism so that the model may not interfere with the obstacle. <P>COPYRIGHT: (C)2011,JPO&INPIT |
