| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile robot for autonomously traveling always at a speed according to a road surface state or peripheral environment on a paved road surface as well as an unpaved road surface, and to provide a travel speed control method for the mobile robot. SOLUTION: This mobile robot has: an environment recognition part 2 periodically acquiring profile data on the front side; a map creation part 3 mapping the profile data as needed; a self-position measurement part 4 periodically obtaining a self-position; a route planning part 5 reflecting position data from the self-position measurement part 4 in local map data D obtained from the map creation part 3 to select a safe route T as needed; a speed planning part 6 outputting a value of a lowest speed from values of respective allowable speeds prescribed by conditions of a road surface inclination, road surface unevenness, a balance between a maximum curvature value and steering restriction, a route width, and a forecast distance as a speed instruction in each input of the local map data D and a maximum curvature of the safe route T; and a control part 7 outputting a control signal to a drive steering system 8 as needed based on the position data, the speed instruction and a safe route instruction. COPYRIGHT: (C)2010,JPO&INPIT
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