AUTONOMOUS TRAVELING VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide an autonomous traveling vehicle for surely detecting the shape of an obstacle or a floor in a traveling direction by simple configurations. SOLUTION: This autonomous traveling vehicle 1 configured as a vehicle which autonomously travels based on stored map information is provided with a two-dimensional scan type range sensor 2 mounted on the front face of a vehicle to the oblique lower direction of the traveling direction, a two-dimensional scan type range sensor 3 mounted on the front face of the vehicle toward the traveling direction and a traveling quantity measuring means 4 which measures traveling quantity from the number of rotation of the wheels of the main body of the vehicle. This autonomous traveling vehicle 1 prepares the map information by overlapping information acquired by the sensor 2 on information acquired by a sensor 3, and travels by detecting and avoiding an obstacle. Thus, it is possible to efficiently and surely detect the ups and downs of the obstacle or floor by making the best of the advantages of the both two-dimensional scan type sensors 2 and 3 by combining them without using any expensive three-dimensional scan type distance sensor. COPYRIGHT: (C)2005,JPO&NCIPI