| 摘要 |
PROBLEM TO BE SOLVED: To provide a movable body control device for detecting an obstacle by an external sensor and making this averted and positively performing guide control into a final target position, and to provide a movable body. SOLUTION: The movable body control device comprises an environment measuring section mounted on the movable body to measure obstacles in the surroundings at a plurality of measuring points and measuring the distances and directions for every measuring point; a route search section for searching an area, through which the movable body can pass using measuring point information obtained by the environment measuring section; and an operation control section for performing guide control of the movable body to pass in the passable area and to reach a given target position. The route search section is configured to obtain the passable area as a passable angle area 705, when viewed from the center of the movable body, where the obstacle and the movable body do not contact each other. COPYRIGHT: (C)2009,JPO&INPIT
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