| 摘要 |
PROBLEM TO BE SOLVED: To facilitate maintenance by reducing influences with respect to changes in kinds, the number and arrangement of sensors for detecting a peripheral environment in a traveling area, and by simplifying structure of a control program. SOLUTION: A work control part 31 indicates left-following travel to an action control part 32. The action control part issues an indication to use a left-following travel detection pattern 38, to a sensor monitoring part 34. The sensor monitoring part monitors periodically the respective ultrasonic sensors 5-13, patternizes an external field to be recognized, and informs the action control part of a change in the time point when a sensor detection pattern is changed. The action control part selects a travel command for the next action from a left-following travel action determination table 35. The action control part outputs the selected travel command to a travel command execution part 33. The travel command execution part drive-controls a motor driving part 40 to realize a traveling speed and a turning angular velocity required for executing the travel command. COPYRIGHT: (C)2006,JPO&NCIPI
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