AUTONOMOUS TRAVELING VEHICLE

摘要

PROBLEM TO BE SOLVED: To surely avoid a collision without abruptly decelerating and stopping and also smoothly performing autonomous travelling in an autonomous travelling vehicle capable of travelling in all directions. SOLUTION: An autonomous travelling vehicle autonomously travelling on the basis of stored map information comprises a travelling means 2 for travelling and moving in almost all directions; an obstacle detection sensor 3 detecting an obstacle to be an obstacle in moving; and a travelling control means 4 storing map information and controlling the travelling means 2 while avoiding a collision with the obstacle detected by the sensor 3 on the basis of the map information. The control means 4 limits the movement of the vehicle in a lateral direction to almost zero and controls the travelling means 2 around a turning movement center as a control center so as to perform movement of two degree of freedom in an anteroposterior direction and turning, and sets the control center at an obstacle position with high possibility of collision or around the vehicles including the vehicle close to the obstacle position in changing the moving direction in order to avoid the obstacle. COPYRIGHT: (C)2008,JPO&INPIT