MOVEMENT CONTROL DEVICE, ENVIRONMENT RECOGNITION DEVICE, AND PROGRAM FOR CONTROLLING MOVING OBJECT

摘要

PROBLEM TO BE SOLVED: To control a moving object so as to avoid an unexpected obstacle on a target route by accurately moving the moving object along the target route without receiving an electric wave from a GPS satellite.

SOLUTION: A moving object 11 autonomously moving in accordance with preliminarily set target route information is provided with a movement controller 12 for controlling movement of the moving object 11. The movement controller 12 is provided with a self-position detection means 23 for detecting a present position and direction of the moving object 11, an ALR 24 for detecting a distance between the moving object 11 and an object existing around it, and a control means 25 for not only determining a course of the moving object 11 on the basis of data of the self-position detection means 23 and the ALR 24 but also controlling the moving object 11 so as to move the moving object 11 along the course. The control means 25 cumulatively generates an environment map around the moving object, which considers the existence of objects, in a moving direction in accordance with movement of the moving object 11 and determines a course of the moving object, where the moving object will not interfere with objects, on the basis of target route information and the environment map.

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