| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an autonomous shifter which can easily recognize location of any planar obstacle such as a barrier with simple procedures, and also accurately can identify its own location to enable efficient and safe autonomous travel. <P>SOLUTION: The autonomous shifter scans inside the horizontal surface, receives reflected wave to obtain coordinates of plural scanning points and to form element vectors for two scanning points nearly being contiguous in time series. Then, it selects two or more element vectors contiguous in time series and mutually consecutive with length of the first prescribed length or less, an angle of the first prescribed angle or less, and the integral of the angle of the second prescribed angle or less among plural element vectors, and synthesizes them to form one scanning segment vector. Thus, it recognizes existence of a planar obstacle along the scanning segment vector when a line segment defined by a starting point and end point of the scanning segment vector is the second prescribed length or more. <P>COPYRIGHT: (C)2009,JPO&INPIT |
