| 摘要 |
PROBLEM TO BE SOLVED: To provide a guidance system and a guidance method which can suppress a burden of equipment required for guidance of a mobile object and can stably guide the mobile object without deteriorating the reliability even if a dynamic obstacle is detected. SOLUTION: The guidance system refers to a three-dimensional map which associates shape information along a traveling route R with position and posture information of a conveyor vehicle 3A, obtains the position and posture information of the conveyor vehicle 3A based on the observation shape data obtained by a laser scanner 13, and performs travel control by absolute guidance. Meanwhile, when the reliability of the position and posture information is lower than a predetermined reference, the system obtains a guidance section to be used as a reference of relative guidance along with the traveling route, and switches it to travel control of the conveyor vehicle 3A by relative guidance. Consequently, the system can flexibly respond to sudden dynamic disturbance by dynamic obstructs, such as an oncoming vehicle, and can stably guide the mobile object without deteriorating the reliability. COPYRIGHT: (C)2010,JPO&INPIT
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