| 摘要 |
PROBLEM TO BE SOLVED: To reasonably perform control to aim at a destination while making a balance for route follow-up and obstacle avoidance.SOLUTION: An autonomous traveling control part 11 determines an initial target direction θs targeting route follow-up from the current location and passing point location information of a traveling object 1 and a second direction group as the group of a direction in which a distance between the traveling object 1 and an obstacle 2 exceeds a threshold L. When the distance between the traveling object 1 and the obstacle 2 in the current direction θc is equal to or less than a threshold L, a target direction determination part 111 determines, as a target direction θd, the direction which difference is smaller in a direction Ψ selected from a second direction group, whose difference from the current direction θc is minimized, and a direction Ψs selected from the second direction group, whose difference from the initial target direction θs is minimized. When the distance between the traveling object 1 and the obstacle 2 exceeds the threshold L, the target direction determination part 111 determines the direction Ψs selected from the second direction group, whose difference from the initial target direction θs is minimized, as the target direction θd. |
