| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable efficient and safe autonomous travel by making it possible to recognize the position of a planar obstacle through simple procedures, and precisely specifying a self position. <P>SOLUTION: A horizontal plane is scanned with a laser beam to acquire positional coordinates of a plurality of scanning points. An element vector is formed with respect to two scanning points which are acquired in order of time series, so that a scanning point acquired earlier is used as a start point and another scanning point acquired later as an end point of the vector. From a plurality of element vectors, a plurality of element vectors which are acquired and continued in order of times series, with the length of each element vector being equal to or shorter than a first predetermined length, a deflection angle of one element vector with respect to another continuing element vector being equal to or smaller than a first predetermined angle, and an integrated value of the deflection angles being equal to or smaller than a second predetermined angle, have their vectors composed. When a line defined by a start point and an end point is equal to or longer than a second predetermined length, a planar obstacle is recognized to exist along a scanning segment vector. <P>COPYRIGHT: (C)2010,JPO&INPIT |
