| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile object capable of properly avoiding a traveling obstacle group having a specific relation. SOLUTION: This mobile object (1) includes: obstacle detection means (20, 31) for detecting an obstacle existing in the periphery; a specific mobile object group extraction means (32) for extracting a specific traveling obstacle group having a specific relation from the plurality of objects detected by the obstacle detection means; and an entry invalidating region setting means (33) for setting an entry invalidating region for each obstacle which has not been extracted as a specific traveling obstacle group by the specific traveling obstacle group extraction means, and for setting one entry invalidating region for the specific traveling obstacle group which has been extracted by the specific traveling obstacle group extraction means, among the obstacles detected by the obstacle detection means, and configured to travel to avoid its entry to the entry invalidating region set by the entry invalidating region setting means. COPYRIGHT: (C)2009,JPO&INPIT
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