| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous mobile unit to appropriately handle an object being out of sight and determine a path so as to avoid collision with the object. SOLUTION: The routing apparatus includes a sensor unit which detects an object in a target field of view and measures a position of the object, and an electronic control unit which controls movement of the autonomous mobile unit. The electronic control unit is programmed to implement a function to determine velocity and a travel direction of the object based on changes in the position of the object obtained from the sensor unit over a plurality of measurement cycles, a function to determine a path of the autonomous mobile unit so as to avoid collision with the object based on the position, the velocity, and the travel direction of the object, and a function to determine the path of the autonomous mobile unit by setting the velocity of the object to a value equal to or lower than a predetermined value if the object recognized in the previous measurement cycle is not recognized in the current measurement cycle. COPYRIGHT: (C)2009,JPO&INPIT
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