| 摘要 |
PROBLEM TO BE SOLVED: To efficiently realize smooth movement without greatly changing a direction of a bypass point when an autonomous mobile device bypasses an obstacle, and moves. SOLUTION: The autonomous mobile device 1 includes a controlling unit for moving an own position based on environment information obtained by a laser radar 2 and a bypass point generating unit for sequentially generating bypass points M1, M2, M3 for avoiding an obstacle when the obstacle is detected, by the laser radar 2, on a straight route in the direction toward a destination T for movement. The controlling unit controls a mobile device so as to directly head to the destination T when no obstacles exist, and to head to the destination T while sequentially heading to the bypass points M1, M2, M3 sequentially generated by the bypass point generating unit when the obstacle exists. The bypass point generating unit generates a next bypass point M2 in a direction where an angle from a direction K which the device heads at present becomes in a range of an allowable angle α. Thus, stable bypass movement is accomplished since a generation position of a bypass point is limited by an angle. COPYRIGHT: (C)2011,JPO&INPIT |
