| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile device performing high-speed movement in an environment having a mobile obstacle. SOLUTION: The mobile device comprises an external world information acquisition means 31; an obstacle detection means 32; an obstacle feature estimation means 33; a collision prediction means 34; an avoiding route planning means 35; and an avoiding orbit generation means 36. The collision prediction means 34 predicts, from the position and feature of an obstacle and attitude information and orbit information of the mobile device, a collision with the obstacle. The avoiding route planning means 35 calculates, when the collision is predicted, passing points which pass the side of the obstacle or the circumference of the obstacle for avoiding the obstacle, and plans one or more avoiding routes passing the points. The avoiding track generation means 36 generates a smooth avoiding orbit in which the movable device can travel by adjusting the passing points so as not to interfere with the obstacle. COPYRIGHT: (C)2008,JPO&INPIT
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