| 摘要 |
PROBLEM TO BE SOLVED: To improve an abnormality detection capability by preventing erroneous determination on a slope or the like. SOLUTION: This mobile robot 1 travels in a prescribed environment, a self position detection part 9 detects a self position of the mobile robot 1, and a sensor 11 generates sensed data on a measured object in an environment. A storage part 15 stores a group of sensed data obtained from past traveling as a group of reference data of abnormality decision. A reference data selection part 81 selects as similar reference data reference data correspond to a current self position and resemble current sensed data. An abnormality determination part 83 determines an abnormality in the environment by comparing the sensed data with the similar reference data. The reference data selection part 81 extracts the plurality of reference data corresponding to peripheral positions including the self position from among the group of reference data and selects one most similar to the sensed data from among the plurality of reference data. Similarity is determined on the basis of the number of coincident points where distances to the measured objects coincide with one another. COPYRIGHT: (C)2007,JPO&INPIT
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