| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous mobile body smoothly moving to a destination while suppressing a storage area and an amount of calculation. SOLUTION: A robot 11 includes a subgoal storage part, an its own machine information acquisition part, the shortest subgoal search part, a subgoal extraction part, and a virtual moving target arithmetic part. The subgoal storage part stores: a position of a subgoal of each of a plurality of set subgoals in a route to a target position 90 from an initial position; and the order of the subgoals from the initial position. The own machine information acquisition part obtains a present position of its own machine. The shortest subgoal search part searches for the subgoal having a shortest distance from the present position of the subgoals stored by the subgoal storage part. The subgoal extraction part extracts the subgoals including the subgoal 82 having the shortest distance, and positioned in an area circle 100 with the present position as a center. The virtual moving target arithmetic part calculates a virtual moving target 88 based on the position of each subgoal extracted by the subgoal extraction part. COPYRIGHT: (C)2010,JPO&INPIT
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