AUTONOMOUS MOBILE ROBOT AND MOVEMENT CONTROL METHOD OF THE SAME

摘要

<P>PROBLEM TO BE SOLVED: To provide an autonomous mobile robot and method of creating a moving route of the autonomous mobile robot in which a route of the robot can be easily corrected regardless of the size or the shape of the mobile robot body even in a real-time change. Ž<P>SOLUTION: In an autonomous mobile robot includes: a mobile robot body including a moving means; a target route determining means which determines a target route for moving the mobile robot body; and a control unit for controlling the moving means to move the mobile robot body on the basis of the determined target route. A virtual arm is virtually generated to which the terminal section is freely turnably attached to the mobile robot body, and the moving means is controlled to move the tip end of the virtual arm along the determined target route while maintaining constraints of attitudes on the generated virtual arm. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž