| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous moving device and autonomous movement control method for realizing efficient linear traveling by appropriately evaluating the position of an obstacle positioned at the side part of a traveling direction. SOLUTION: This device is provided with a storage means for storing traveling control conditions, an environment information acquiring means for acquiring obstacle position information, a traveling means and a traveling control means for controlling the traveling means based on the traveling control conditions and the obstacle position information. The traveling control means sets the traveling speed of the traveling direction based on a converted obstacle distance calculated by multiplying a distance until an obstacle acquired by the environment information acquiring means by a weighting factor y for considering the distance until the obstacle to be longer according as the direction of the obstacle becomes far away from the traveling direction, the highest speed and acceleration/deceleration. When moving in a narrow path, this device can discriminate its reaction to any obstacle in the traveling direction from its reaction to a side wall or the like, and to carry out its efficient traveling at a much higher speed. COPYRIGHT: (C)2004,JPO
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