| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled device and a control method therefor that can implement an efficient operation by shortening an unnecessary travel distance. SOLUTION: The self-propelled device R comprises driving wheels WL and WR, a forward distance detection part SF for detecting a forward clearance distance LF between the self-propelled device R and a preceding object, a side distance detection part SS for detecting a side clearance distance LS between the self-propelled device R and a side object, and a control part COM for periodically determining whether or not to turn the self-propelled device R according to the detected forward clearance distance LF, and if determining to turn it, calculating an instantaneous center of rotation RC of the self-propelled device R according to the detected forward clearance distance LF and side clearance distance LS and determining the speed of the driving wheels WL and WR according to the calculated instantaneous center of rotation RC. COPYRIGHT: (C)2008,JPO&INPIT
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