| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot reliably presenting to a pedestrian a course that allows avoiding an obstacle. SOLUTION: The robot 1 applies a laser beam in the form of radiation to a backward range A at predetermined angle pitches and obtains distance data from the robot 1 up to reflection points (h1 to h17) for every laser beam. Based on the distance data, clusters 1 to 4 of reflection points produced on the surfaces of objects existing behind the robot 1 are extracted, and two sets of clusters (set of 1 and 2 and set of 2 and 3) that could indicate both legs of a pedestrian are specified therefrom. For each of the set of clusters specified, coordinates T1, T2 that could indicate the center position of the pedestrian's torso are obtained, and the coordinate T2 closest to the center position S1 of the torso estimated from previous data is specified therefrom as the present coordinate of the center position of the torso. Based on the coordinate T2, the speed of the robot 1 is controlled. COPYRIGHT: (C)2011,JPO&INPIT
|
