| 摘要 |
PROBLEM TO BE SOLVED: To travel a self-propelled robot everywhere on the floor of a room to clean the room of a home by the self-propelled robot by recognizing the layout of the room and the position and size of an obstacle such as furniture with the obstacle escaping. SOLUTION: The self-propelled robot relatively recognizes its position and direction by arranging a marker on the ceiling of the room and by reading the position and direction of the marker by means of the self-propelled robot and controls the position of the layout of the room and that of the obstacle, and the position of the self-propelled robot as matrix data to control the travelling route of the self-propelled robot. COPYRIGHT: (C)2004,JPO&NCIPI
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