| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle avoiding method for moving objects, which allows moving objects to smoothly and safely perform autonomous moving, securely avoids obstacles even under irregular and rough environments, such as especially ordinary homes, and further allows the moving objects to move even in narrow spaces, and the moving objects thereof. SOLUTION: The moving object 10 has a group of sensors, in which at least two kinds of sensors 14a, 14b, 15 and 16 that are provided with different sensing means are combined. In addition, the moving object 10 has a surrounding map creation step for creating a plurality of three-dimensionally different surrounding maps 17a, 17b and 17c based on data detected by the sensors, a united map creation step for creating one two-dimensionally united map 18, which is created by uniting the plurality of surrounding maps based on an absolute coordinates system, and a route retrieval step for retrieving an optimal moving route that can avoid obstacles from the united map. In the surrounding map creation step, the surrounding maps are updated only if data detected by the same kinds of sensors is provided, and an optimal moving route is re-retrieved. COPYRIGHT: (C)2006,JPO&NCIPI
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