| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To easily recognize a position of a planar obstacle, to specify own position, and to allow efficient and safe autonomous travel, in an autonomous moving device. <P>SOLUTION: A horizontal plane is scanned with a laser beam within a range thereof, a reflected wave is received to acquire coordinates of a plurality of scanning points, an element vector with the former scanning point as a start point and with the later scanning point as an end point is formed as to two scanning points with a time-serial sequence in an obtained order, the plurality of element vectors before and after time-serially and consecutive each other, having the first prescribed length or less of element vector length respectively, having the first prescribed angle or less of deflection angle, and having the second prescribed angle or less of deflection angle integrated value, is selected and vector-composed to be brought into one scan segment vector, and it is recognized that the planar obstacle exists along the scanning segment vector, when a line segment defined by the start point and the end point of the scanning segment vector is the second predetermined length or more. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
