| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an autonomous moving device capable of tracking a target object while appropriately avoiding obstacles around a body even if the device has a body shape whose moving direction is its longitudinal direction. Ž<P>SOLUTION: When no obstacle is detected in the direction to the target object, the moving direction of the body is determined to be the direction of the target object, on the basis of relative position information of the target object captured by a laser range finder with respect to the body and information of obstacles therearound detected by an obstacle sensors. When an obstacle is detected, the direction is determined as a direction to a space nearest to the target object among spaces radially expanding centered at the body and where any obstacle is not detected. Then, when a turn is required to direct the body in the determined direction, in a case where an obstacle exists within the turning region, the traveling direction is corrected to the straight line. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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