| 摘要 |
PROBLEM TO BE SOLVED: To quickly search for an area where a search device can move, around the inner periphery of a floor in a building. SOLUTION: In a search device with a sensor mounted on a carrier for detecting an obstacle within a certain peripheral area, a storage device 112 stores indoor structure data 115 showing an already searched area where the search device can move. A sensing part 107 observes a certain peripheral area by a sensor each time the search device moves by the carrier, and determines an area not blocked by an obstacle in the observed area as a move area, and updates the indoor structure data 115 based on the determination result. A search part 120 successively instructs the moving direction to the carrier. The search part 120 determines, according as the indoor structure data 115 are updated by the sensing part 107, a direction to be instructed the next by giving priority to the direction in which the circumscribed quadrangle of the move area shown by the indoor structure data 115 is extended. COPYRIGHT: (C)2010,JPO&INPIT
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