| 摘要 |
PROBLEM TO BE SOLVED: To continue travel of an autonomous mobile device for a passable predetermined recess while preventing a body from being stuck due to a recess. SOLUTION: When the autonomous mobile device approaches a recess (#1), the speedνis reduced to a speedν<SB>MIN</SB>below normal in the approach to the recess (#4). When a floor detection sensor detects the recess (#5), if the detected recess is determined to be corresponding to a passable recess stored in advance in map information (YES in #6) and an environmental form recognized by a scanning distance sensor matches the one of a position stored in the map information in association with the recess (YES in #7), the autonomous mobile device continues traveling (#8). Otherwise (NO in #6 or #7), it stops once (#10), goes back a predetermined distance (#11) and stops (#12). COPYRIGHT: (C)2005,JPO&NCIPI
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